state.hpp

// BSD 3-Clause License
//
// Copyright (C) 2022-2025, LAAS-CNRS, University of Edinburgh,
//                          Heriot-Watt University
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
 
#ifndef CROCODDYL_MULTIBODY_RESIDUALS_STATE_HPP_
#define CROCODDYL_MULTIBODY_RESIDUALS_STATE_HPP_
 
#include "crocoddyl/core/fwd.hpp"
#include "crocoddyl/core/residual-base.hpp"
#include "crocoddyl/core/state-base.hpp"
#include "crocoddyl/multibody/fwd.hpp"
#include "crocoddyl/multibody/states/multibody.hpp"
 
namespace crocoddyl {
 
template <typename _Scalar>
class ResidualModelStateTpl : public ResidualModelAbstractTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  CROCODDYL_DERIVED_CAST(ResidualModelBase, ResidualModelStateTpl)
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ResidualModelAbstractTpl<Scalar> Base;
  typedef StateMultibodyTpl<Scalar> StateMultibody;
  typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
  typedef CostDataAbstractTpl<Scalar> CostDataAbstract;
  typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract;
  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  ResidualModelStateTpl(std::shared_ptr<typename Base::StateAbstract> state,
                        const VectorXs& xref, const std::size_t nu);
 
  ResidualModelStateTpl(std::shared_ptr<typename Base::StateAbstract> state,
                        const VectorXs& xref);
 
  ResidualModelStateTpl(std::shared_ptr<typename Base::StateAbstract> state,
                        const std::size_t nu);
 
  ResidualModelStateTpl(std::shared_ptr<typename Base::StateAbstract> state);
  virtual ~ResidualModelStateTpl() = default;
 
  virtual void calc(const std::shared_ptr<ResidualDataAbstract>& data,
                    const Eigen::Ref<const VectorXs>& x,
                    const Eigen::Ref<const VectorXs>& u) override;
 
  virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data,
                        const Eigen::Ref<const VectorXs>& x,
                        const Eigen::Ref<const VectorXs>& u) override;
 
  virtual void calcCostDiff(
      const std::shared_ptr<CostDataAbstract>& cdata,
      const std::shared_ptr<ResidualDataAbstract>& rdata,
      const std::shared_ptr<ActivationDataAbstract>& adata,
      const bool update_u = true) override;
 
  template <typename NewScalar>
  ResidualModelStateTpl<NewScalar> cast() const;
 
  const VectorXs& get_reference() const;
 
  void set_reference(const VectorXs& reference);
 
  virtual void print(std::ostream& os) const override;
 
 protected:
  using Base::nr_;
  using Base::nu_;
  using Base::state_;
  using Base::u_dependent_;
 
 private:
  VectorXs xref_;  
  std::shared_ptr<typename StateMultibody::PinocchioModel>
      pin_model_;  
};
 
}  // namespace crocoddyl
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/multibody/residuals/state.hxx"
 
extern template class CROCODDYL_EXPLICIT_INSTANTIATION_DECLARATION_DLLAPI
    crocoddyl::ResidualModelStateTpl<double>;
extern template class CROCODDYL_EXPLICIT_INSTANTIATION_DECLARATION_DLLAPI
    crocoddyl::ResidualModelStateTpl<float>;
 
#endif  // CROCODDYL_MULTIBODY_RESIDUALS_STATE_HPP_