residual-base.hpp

// BSD 3-Clause License
//
// Copyright (C) 2021-2025, University of Edinburgh, Heriot-Watt University
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
 
#ifndef CROCODDYL_CORE_RESIDUAL_BASE_HPP_
#define CROCODDYL_CORE_RESIDUAL_BASE_HPP_
 
#include "crocoddyl/core/activation-base.hpp"
#include "crocoddyl/core/cost-base.hpp"
#include "crocoddyl/core/data-collector-base.hpp"
#include "crocoddyl/core/fwd.hpp"
#include "crocoddyl/core/state-base.hpp"
 
namespace crocoddyl {
 
class ResidualModelBase {
 public:
  virtual ~ResidualModelBase() = default;
 
  CROCODDYL_BASE_CAST(ResidualModelBase, ResidualModelAbstractTpl)
};
 
template <typename _Scalar>
class ResidualModelAbstractTpl : public ResidualModelBase {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  CROCODDYL_BASE_DERIVED_CAST(ResidualModelBase, ResidualModelAbstractTpl)
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
  typedef CostDataAbstractTpl<Scalar> CostDataAbstract;
  typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract;
  typedef StateAbstractTpl<Scalar> StateAbstract;
  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
  typedef typename MathBase::DiagonalMatrixXs DiagonalMatrixXs;
 
  ResidualModelAbstractTpl(std::shared_ptr<StateAbstract> state,
                           const std::size_t nr, const std::size_t nu,
                           const bool q_dependent = true,
                           const bool v_dependent = true,
                           const bool u_dependent = true);
 
  ResidualModelAbstractTpl(std::shared_ptr<StateAbstract> state,
                           const std::size_t nr, const bool q_dependent = true,
                           const bool v_dependent = true,
                           const bool u_dependent = true);
  virtual ~ResidualModelAbstractTpl() = default;
 
  virtual void calc(const std::shared_ptr<ResidualDataAbstract>& data,
                    const Eigen::Ref<const VectorXs>& x,
                    const Eigen::Ref<const VectorXs>& u);
 
  virtual void calc(const std::shared_ptr<ResidualDataAbstract>& data,
                    const Eigen::Ref<const VectorXs>& x);
 
  virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data,
                        const Eigen::Ref<const VectorXs>& x,
                        const Eigen::Ref<const VectorXs>& u);
 
  virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data,
                        const Eigen::Ref<const VectorXs>& x);
 
  virtual std::shared_ptr<ResidualDataAbstract> createData(
      DataCollectorAbstract* const data);
 
  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);
 
  const std::shared_ptr<StateAbstract>& get_state() const;
 
  std::size_t get_nr() const;
 
  std::size_t get_nu() const;
 
  bool get_q_dependent() const;
 
  bool get_v_dependent() const;
 
  bool get_u_dependent() const;
 
  template <class Scalar>
  friend std::ostream& operator<<(
      std::ostream& os, const ResidualModelAbstractTpl<Scalar>& model);
 
  virtual void print(std::ostream& os) const;
 
 protected:
  std::shared_ptr<StateAbstract> state_;  
  std::size_t nr_;                        
  std::size_t nu_;                        
  VectorXs unone_;                        
  bool q_dependent_;  
  bool v_dependent_;  
  bool u_dependent_;  
  ResidualModelAbstractTpl()
      : state_(nullptr),
        nr_(0),
        nu_(0),
        q_dependent_(false),
        v_dependent_(false),
        u_dependent_(false) {};
};
 
template <typename _Scalar>
struct ResidualDataAbstractTpl {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  template <template <typename Scalar> class Model>
  ResidualDataAbstractTpl(Model<Scalar>* const model,
                          DataCollectorAbstract* const data)
      : shared(data),
        r(model->get_nr()),
        Rx(model->get_nr(), model->get_state()->get_ndx()),
        Ru(model->get_nr(), model->get_nu()),
        Arr_Rx(model->get_nr(), model->get_state()->get_ndx()),
        Arr_Ru(model->get_nr(), model->get_nu()) {
    r.setZero();
    Rx.setZero();
    Ru.setZero();
    Arr_Rx.setZero();
    Arr_Ru.setZero();
  }
  virtual ~ResidualDataAbstractTpl() = default;
 
  DataCollectorAbstract* shared;  
  VectorXs r;                     
  MatrixXs Rx;  
  MatrixXs Ru;  
  MatrixXs Arr_Rx;
  MatrixXs Arr_Ru;
};
 
}  // namespace crocoddyl
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/core/residual-base.hxx"
 
CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::ResidualModelAbstractTpl)
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::ResidualDataAbstractTpl)
 
#endif  // CROCODDYL_CORE_RESIDUAL_BASE_HPP_