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multicopter-base.hpp
1
2// BSD 3-Clause License
3//
4// Copyright (C) 2019-2024, LAAS-CNRS, IRI: CSIC-UPC, University of Edinburgh
5// Copyright note valid unless otherwise stated in individual files.
6// All rights reserved.
8
9#ifndef CROCODDYL_MULTIBODY_ACTUATIONS_MULTICOPTER_BASE_HPP_
10#define CROCODDYL_MULTIBODY_ACTUATIONS_MULTICOPTER_BASE_HPP_
11
12#include <iostream>
13
14#include "crocoddyl/core/actuation-base.hpp"
15#include "crocoddyl/core/utils/deprecate.hpp"
16#include "crocoddyl/core/utils/exception.hpp"
17#include "crocoddyl/multibody/fwd.hpp"
18#include "crocoddyl/multibody/states/multibody.hpp"
19
20namespace crocoddyl {
21
42template <typename _Scalar>
44 : public ActuationModelAbstractTpl<_Scalar> {
45 public:
46 typedef _Scalar Scalar;
51 typedef typename MathBase::VectorXs VectorXs;
52 typedef typename MathBase::MatrixXs MatrixXs;
53 typedef typename MathBase::Matrix6xs Matrix6xs;
54
62 DEPRECATED("Use constructor ActuationModelFloatingBaseThrustersTpl",
64 std::shared_ptr<StateMultibody> state,
65 const Eigen::Ref<const Matrix6xs>& tau_f));
66
67 DEPRECATED("Use constructor without n_rotors",
69 std::shared_ptr<StateMultibody> state,
70 const std::size_t n_rotors,
71 const Eigen::Ref<const Matrix6xs>& tau_f));
73
74 virtual void calc(const std::shared_ptr<Data>& data,
75 const Eigen::Ref<const VectorXs>&,
76 const Eigen::Ref<const VectorXs>& u) {
77 if (static_cast<std::size_t>(u.size()) != nu_) {
78 throw_pretty(
79 "Invalid argument: " << "u has wrong dimension (it should be " +
80 std::to_string(nu_) + ")");
81 }
82
83 data->tau.noalias() = tau_f_ * u;
84 }
85
86#ifndef NDEBUG
87 virtual void calcDiff(const std::shared_ptr<Data>& data,
88 const Eigen::Ref<const VectorXs>&,
89 const Eigen::Ref<const VectorXs>&) {
90#else
91 virtual void calcDiff(const std::shared_ptr<Data>&,
92 const Eigen::Ref<const VectorXs>&,
93 const Eigen::Ref<const VectorXs>&) {
94#endif
95 // The derivatives has constant values which were set in createData.
96 assert_pretty(MatrixXs(data->dtau_du).isApprox(tau_f_),
97 "dtau_du has wrong value");
98 }
99
100 virtual void commands(const std::shared_ptr<Data>& data,
101 const Eigen::Ref<const VectorXs>&,
102 const Eigen::Ref<const VectorXs>& tau) {
103 data->u.noalias() = Mtau_ * tau;
104 }
105
106#ifndef NDEBUG
107 virtual void torqueTransform(const std::shared_ptr<Data>& data,
108 const Eigen::Ref<const VectorXs>&,
109 const Eigen::Ref<const VectorXs>&) {
110#else
111 virtual void torqueTransform(const std::shared_ptr<Data>&,
112 const Eigen::Ref<const VectorXs>&,
113 const Eigen::Ref<const VectorXs>&) {
114#endif
115 // The torque transform has constant values which were set in createData.
116 assert_pretty(MatrixXs(data->Mtau).isApprox(Mtau_), "Mtau has wrong value");
117 }
118
119 std::shared_ptr<Data> createData() {
120 std::shared_ptr<Data> data =
121 std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this);
122 data->dtau_du = tau_f_;
123 data->Mtau = Mtau_;
124 for (std::size_t i = 0; i < 2; ++i) {
125 data->tau_set[i] = false;
126 }
127 return data;
128 }
129
130 std::size_t get_nrotors() const { return n_rotors_; };
131 const MatrixXs& get_tauf() const { return tau_f_; };
132 void set_tauf(const Eigen::Ref<const MatrixXs>& tau_f) { tau_f_ = tau_f; }
133
134 protected:
135 MatrixXs tau_f_;
136 MatrixXs Mtau_;
138 std::size_t n_rotors_;
139
140 using Base::nu_;
141 using Base::state_;
142
143#ifndef NDEBUG
144 private:
145 MatrixXs S_;
146#endif
147};
148
149template <typename Scalar>
151 std::shared_ptr<StateMultibody> state,
152 const Eigen::Ref<const Matrix6xs>& tau_f)
153 : Base(state, state->get_nv() - 6 + tau_f.cols()), n_rotors_(tau_f.cols()) {
154 pinocchio::JointModelFreeFlyerTpl<Scalar> ff_joint;
155 if (state->get_pinocchio()->joints[1].shortname() != ff_joint.shortname()) {
156 throw_pretty(
157 "Invalid argument: " << "the first joint has to be free-flyer");
158 }
159
160 tau_f_ = MatrixXs::Zero(state_->get_nv(), nu_);
161 tau_f_.block(0, 0, 6, n_rotors_) = tau_f;
162 if (nu_ > n_rotors_) {
163 tau_f_.bottomRightCorner(nu_ - n_rotors_, nu_ - n_rotors_)
164 .diagonal()
165 .setOnes();
166 }
167 Mtau_ = pseudoInverse(MatrixXs(tau_f));
168 std::cerr << "Deprecated ActuationModelMultiCopterBase: Use "
169 "ActuationModelFloatingBaseThrusters"
170 << std::endl;
171}
172
173template <typename Scalar>
174ActuationModelMultiCopterBaseTpl<Scalar>::ActuationModelMultiCopterBaseTpl(
175 std::shared_ptr<StateMultibody> state, const std::size_t n_rotors,
176 const Eigen::Ref<const Matrix6xs>& tau_f)
177 : Base(state, state->get_nv() - 6 + n_rotors), n_rotors_(n_rotors) {
178 pinocchio::JointModelFreeFlyerTpl<Scalar> ff_joint;
179 if (state->get_pinocchio()->joints[1].shortname() != ff_joint.shortname()) {
180 throw_pretty(
181 "Invalid argument: " << "the first joint has to be free-flyer");
182 }
183
184 tau_f_ = MatrixXs::Zero(state_->get_nv(), nu_);
185 tau_f_.block(0, 0, 6, n_rotors_) = tau_f;
186 if (nu_ > n_rotors_) {
187 tau_f_.bottomRightCorner(nu_ - n_rotors_, nu_ - n_rotors_)
188 .diagonal()
189 .setOnes();
190 }
191 std::cerr << "Deprecated ActuationModelMultiCopterBase: Use constructor "
192 "without n_rotors."
193 << std::endl;
194}
195
196} // namespace crocoddyl
197
198#endif // CROCODDYL_MULTIBODY_ACTUATIONS_MULTICOPTER_BASE_HPP_
Abstract class for the actuation-mapping model.
std::shared_ptr< StateAbstract > state_
Model of the state.
std::size_t nu_
Dimension of joint torque inputs.
DEPRECATED("Use constructor ActuationModelFloatingBaseThrustersTpl", ActuationModelMultiCopterBaseTpl(std::shared_ptr< StateMultibody > state, const Eigen::Ref< const Matrix6xs > &tau_f))
Initialize the multicopter actuation model.
std::shared_ptr< StateAbstract > state_
Model of the state.
virtual void commands(const std::shared_ptr< Data > &data, const Eigen::Ref< const VectorXs > &, const Eigen::Ref< const VectorXs > &tau)
Compute the joint torque input from the generalized torques.
virtual void calcDiff(const std::shared_ptr< Data > &data, const Eigen::Ref< const VectorXs > &, const Eigen::Ref< const VectorXs > &)
Compute the Jacobians of the actuation function.
virtual void calc(const std::shared_ptr< Data > &data, const Eigen::Ref< const VectorXs > &, const Eigen::Ref< const VectorXs > &u)
Compute the actuation signal from the state point and joint torque inputs .
MatrixXs tau_f_
Matrix from rotors thrust to body force/moments.
std::shared_ptr< Data > createData()
Create the actuation data.
std::size_t nu_
Dimension of joint torque inputs.
virtual void torqueTransform(const std::shared_ptr< Data > &data, const Eigen::Ref< const VectorXs > &, const Eigen::Ref< const VectorXs > &)
Compute the torque transform from generalized torques to joint torque inputs.
State multibody representation.
Definition multibody.hpp:35