actuation-base.hpp

// BSD 3-Clause License
//
// Copyright (C) 2019-2022, LAAS-CNRS, University of Edinburgh,
//                          Heriot-Watt University
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
 
#ifndef CROCODDYL_CORE_ACTUATION_BASE_HPP_
#define CROCODDYL_CORE_ACTUATION_BASE_HPP_
 
#include <boost/make_shared.hpp>
#include <boost/shared_ptr.hpp>
#include <stdexcept>
 
#include "crocoddyl/core/fwd.hpp"
#include "crocoddyl/core/mathbase.hpp"
#include "crocoddyl/core/state-base.hpp"
#include "crocoddyl/core/utils/exception.hpp"
 
namespace crocoddyl {
 
template <typename _Scalar>
class ActuationModelAbstractTpl {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef StateAbstractTpl<Scalar> StateAbstract;
  typedef ActuationDataAbstractTpl<Scalar> ActuationDataAbstract;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  ActuationModelAbstractTpl(boost::shared_ptr<StateAbstract> state,
                            const std::size_t nu);
  virtual ~ActuationModelAbstractTpl();
 
  virtual void calc(const boost::shared_ptr<ActuationDataAbstract>& data,
                    const Eigen::Ref<const VectorXs>& x,
                    const Eigen::Ref<const VectorXs>& u) = 0;
 
  void calc(const boost::shared_ptr<ActuationDataAbstract>& data,
            const Eigen::Ref<const VectorXs>& x);
 
  virtual void calcDiff(const boost::shared_ptr<ActuationDataAbstract>& data,
                        const Eigen::Ref<const VectorXs>& x,
                        const Eigen::Ref<const VectorXs>& u) = 0;
 
  void calcDiff(const boost::shared_ptr<ActuationDataAbstract>& data,
                const Eigen::Ref<const VectorXs>& x);
 
  virtual void commands(const boost::shared_ptr<ActuationDataAbstract>& data,
                        const Eigen::Ref<const VectorXs>& x,
                        const Eigen::Ref<const VectorXs>& tau) = 0;
 
  virtual void torqueTransform(
      const boost::shared_ptr<ActuationDataAbstract>& data,
      const Eigen::Ref<const VectorXs>& x, const Eigen::Ref<const VectorXs>& u);
  virtual boost::shared_ptr<ActuationDataAbstract> createData();
 
  std::size_t get_nu() const;
 
  const boost::shared_ptr<StateAbstract>& get_state() const;
 
  template <class Scalar>
  friend std::ostream& operator<<(
      std::ostream& os, const ResidualModelAbstractTpl<Scalar>& model);
 
  virtual void print(std::ostream& os) const;
 
 protected:
  std::size_t nu_;  
  boost::shared_ptr<StateAbstract> state_;  
};
 
template <typename _Scalar>
struct ActuationDataAbstractTpl {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  template <template <typename Scalar> class Model>
  explicit ActuationDataAbstractTpl(Model<Scalar>* const model)
      : tau(model->get_state()->get_nv()),
        u(model->get_nu()),
        dtau_dx(model->get_state()->get_nv(), model->get_state()->get_ndx()),
        dtau_du(model->get_state()->get_nv(), model->get_nu()),
        Mtau(model->get_nu(), model->get_state()->get_nv()),
        tau_set(model->get_state()->get_nv(), true) {
    tau.setZero();
    u.setZero();
    dtau_dx.setZero();
    dtau_du.setZero();
    Mtau.setZero();
  }
  virtual ~ActuationDataAbstractTpl() {}
 
  VectorXs tau;      
  VectorXs u;        
  MatrixXs dtau_dx;  
  MatrixXs dtau_du;  
  MatrixXs Mtau;  
  std::vector<bool> tau_set;  
};
 
}  // namespace crocoddyl
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/core/actuation-base.hxx"
 
#endif  // CROCODDYL_CORE_ACTUATION_BASE_HPP_