joint-effort.hpp

// BSD 3-Clause License
//
// Copyright (C) 2022-2023, Heriot-Watt University, University of Edinburgh
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
 
#ifndef CROCODDYL_CORE_RESIDUALS_JOINT_TORQUE_HPP_
#define CROCODDYL_CORE_RESIDUALS_JOINT_TORQUE_HPP_
 
#include "crocoddyl/core/actuation-base.hpp"
#include "crocoddyl/core/data/joint.hpp"
#include "crocoddyl/core/fwd.hpp"
#include "crocoddyl/core/residual-base.hpp"
 
namespace crocoddyl {
 
template <typename _Scalar>
class ResidualModelJointEffortTpl : public ResidualModelAbstractTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ResidualModelAbstractTpl<Scalar> Base;
  typedef ResidualDataJointEffortTpl<Scalar> Data;
  typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
  typedef StateAbstractTpl<Scalar> StateAbstract;
  typedef ActuationModelAbstractTpl<Scalar> ActuationModelAbstract;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  ResidualModelJointEffortTpl(
      boost::shared_ptr<StateAbstract> state,
      boost::shared_ptr<ActuationModelAbstract> actuation, const VectorXs& uref,
      const std::size_t nu, const bool fwddyn = false);
 
  ResidualModelJointEffortTpl(
      boost::shared_ptr<StateAbstract> state,
      boost::shared_ptr<ActuationModelAbstract> actuation,
      const VectorXs& uref);
 
  ResidualModelJointEffortTpl(
      boost::shared_ptr<StateAbstract> state,
      boost::shared_ptr<ActuationModelAbstract> actuation,
      const std::size_t nu);
 
  ResidualModelJointEffortTpl(
      boost::shared_ptr<StateAbstract> state,
      boost::shared_ptr<ActuationModelAbstract> actuation);
 
  virtual ~ResidualModelJointEffortTpl();
 
  virtual void calc(const boost::shared_ptr<ResidualDataAbstract>& data,
                    const Eigen::Ref<const VectorXs>& x,
                    const Eigen::Ref<const VectorXs>& u);
 
  virtual void calc(const boost::shared_ptr<ResidualDataAbstract>& data,
                    const Eigen::Ref<const VectorXs>& x);
 
  virtual void calcDiff(const boost::shared_ptr<ResidualDataAbstract>& data,
                        const Eigen::Ref<const VectorXs>& x,
                        const Eigen::Ref<const VectorXs>& u);
 
  virtual void calcDiff(const boost::shared_ptr<ResidualDataAbstract>& data,
                        const Eigen::Ref<const VectorXs>& x);
 
  virtual boost::shared_ptr<ResidualDataAbstract> createData(
      DataCollectorAbstract* const data);
 
  const VectorXs& get_reference() const;
 
  void set_reference(const VectorXs& reference);
 
  virtual void print(std::ostream& os) const;
 
 protected:
  using Base::nr_;
  using Base::nu_;
  using Base::q_dependent_;
  using Base::state_;
  using Base::v_dependent_;
 
 private:
  VectorXs uref_;  
  bool fwddyn_;    
};
 
template <typename _Scalar>
struct ResidualDataJointEffortTpl : public ResidualDataAbstractTpl<_Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ResidualDataAbstractTpl<Scalar> Base;
  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
 
  template <template <typename Scalar> class Model>
  ResidualDataJointEffortTpl(Model<Scalar>* const model,
                             DataCollectorAbstract* const data)
      : Base(model, data) {
    // Check that proper shared data has been passed
    DataCollectorJointTpl<Scalar>* d =
        dynamic_cast<DataCollectorJointTpl<Scalar>*>(shared);
    if (d == nullptr) {
      throw_pretty(
          "Invalid argument: the shared data should be derived from "
          "DataCollectorJoint");
    }
    joint = d->joint;
  }
 
  boost::shared_ptr<JointDataAbstractTpl<Scalar> > joint;  
  using Base::r;
  using Base::Ru;
  using Base::Rx;
  using Base::shared;
};
 
}  // namespace crocoddyl
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/core/residuals/joint-effort.hxx"
 
#endif  // CROCODDYL_CORE_RESIDUALS_JOINT_TORQUE_HPP_