multibody.hpp

// BSD 3-Clause License
//
// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh,
//                          Heriot-Watt University
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
 
#ifndef CROCODDYL_MULTIBODY_STATES_MULTIBODY_HPP_
#define CROCODDYL_MULTIBODY_STATES_MULTIBODY_HPP_
 
#include "crocoddyl/core/state-base.hpp"
#include "crocoddyl/multibody/fwd.hpp"
 
namespace crocoddyl {
 
template <typename _Scalar>
class StateMultibodyTpl : public StateAbstractTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  CROCODDYL_DERIVED_CAST(StateBase, StateMultibodyTpl)
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef StateAbstractTpl<Scalar> Base;
  typedef pinocchio::ModelTpl<Scalar> PinocchioModel;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  explicit StateMultibodyTpl(std::shared_ptr<PinocchioModel> model);
  StateMultibodyTpl();
  virtual ~StateMultibodyTpl();
 
  virtual VectorXs zero() const override;
 
  virtual VectorXs rand() const override;
 
  virtual void diff(const Eigen::Ref<const VectorXs>& x0,
                    const Eigen::Ref<const VectorXs>& x1,
                    Eigen::Ref<VectorXs> dxout) const override;
  virtual void integrate(const Eigen::Ref<const VectorXs>& x,
                         const Eigen::Ref<const VectorXs>& dx,
                         Eigen::Ref<VectorXs> xout) const override;
  virtual void Jdiff(const Eigen::Ref<const VectorXs>&,
                     const Eigen::Ref<const VectorXs>&,
                     Eigen::Ref<MatrixXs> Jfirst, Eigen::Ref<MatrixXs> Jsecond,
                     const Jcomponent firstsecond = both) const override;
 
  virtual void Jintegrate(const Eigen::Ref<const VectorXs>& x,
                          const Eigen::Ref<const VectorXs>& dx,
                          Eigen::Ref<MatrixXs> Jfirst,
                          Eigen::Ref<MatrixXs> Jsecond,
                          const Jcomponent firstsecond = both,
                          const AssignmentOp = setto) const override;
  virtual void JintegrateTransport(const Eigen::Ref<const VectorXs>& x,
                                   const Eigen::Ref<const VectorXs>& dx,
                                   Eigen::Ref<MatrixXs> Jin,
                                   const Jcomponent firstsecond) const override;
 
  const std::shared_ptr<PinocchioModel>& get_pinocchio() const;
 
  template <typename NewScalar>
  StateMultibodyTpl<NewScalar> cast() const;
 
  virtual void print(std::ostream& os) const override;
 
 protected:
  using Base::has_limits_;
  using Base::lb_;
  using Base::ndx_;
  using Base::nq_;
  using Base::nv_;
  using Base::nx_;
  using Base::ub_;
 
 private:
  std::shared_ptr<PinocchioModel> pinocchio_;  
  VectorXs x0_;                                
};
 
}  // namespace crocoddyl
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/multibody/states/multibody.hxx"
 
extern template class CROCODDYL_EXPLICIT_INSTANTIATION_DECLARATION_DLLAPI
    crocoddyl::StateMultibodyTpl<double>;
extern template class CROCODDYL_EXPLICIT_INSTANTIATION_DECLARATION_DLLAPI
    crocoddyl::StateMultibodyTpl<float>;
 
#endif  // CROCODDYL_MULTIBODY_STATES_MULTIBODY_HPP_