residual-2D-surface.hpp

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// BSD 3-Clause License
//
// Copyright (C) 2022 LAAS-CNRS
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
 
#ifndef SOBEC_RESIDUAL_2D_SURFACE_HPP_
#define SOBEC_RESIDUAL_2D_SURFACE_HPP_
 
#include <crocoddyl/core/residual-base.hpp>
#include <crocoddyl/multibody/data/multibody.hpp>
#include <crocoddyl/multibody/fwd.hpp>
#include <crocoddyl/multibody/states/multibody.hpp>
 
#include "sobec/fwd.hpp"
 
namespace sobec {
using namespace crocoddyl;
template <typename _Scalar>
class ResidualModel2DSurfaceTpl : public ResidualModelAbstractTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ResidualModelAbstractTpl<Scalar> Base;
  typedef ResidualData2DSurfaceTpl<Scalar> Data;
  typedef StateMultibodyTpl<Scalar> StateMultibody;
  typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
  typedef typename MathBase::Vector3s Vector3s;
  typedef typename MathBase::Vector2s Vector2s;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
  typedef typename MathBase::Matrix3s Matrix3s;
 
  ResidualModel2DSurfaceTpl(boost::shared_ptr<StateMultibody> state,
                            const pinocchio::FrameIndex frame_id,
                            const Vector2s support_translation,
                            const Scalar separation, const Scalar orientation,
                            const Scalar alpha, const std::size_t nu);
 
  ResidualModel2DSurfaceTpl(boost::shared_ptr<StateMultibody> state,
                            const pinocchio::FrameIndex frame_id,
                            const Vector2s support_translation,
                            const Scalar separation, const Scalar orientation,
                            const Scalar alpha);
  virtual ~ResidualModel2DSurfaceTpl();
 
  virtual void calc(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,
                        const Eigen::Ref<const VectorXs>& u);
  virtual boost::shared_ptr<ResidualDataAbstract> createData(
      DataCollectorAbstract* const data);
 
  const pinocchio::FrameIndex& get_frame_id() const;
 
  void set_frame_id(const pinocchio::FrameIndex& fid);
 
  void set_Ab(const Vector2s support_translation, const Scalar orientation);
 
  const MatrixXs& get_A() const { return A_; }
  const Vector2s& get_b() const { return b_; }
 
  void set_A(const MatrixXs& A) { A_ = A; }
  void set_b(const Vector2s& b) { b_ = b; }
 
 protected:
  using Base::nu_;
  using Base::state_;
  using Base::u_dependent_;
  using Base::unone_;
  using Base::v_dependent_;
 
 private:
  pinocchio::FrameIndex frame_id;
  boost::shared_ptr<typename StateMultibody::PinocchioModel>
      pin_model_;  
  Vector2s support_translation_;  // Coordinates of the support foot
  Scalar separation_;   // Separation between flying foot and support foot
  Scalar orientation_;  // Angle of support foot
  Scalar alpha_;        // Angle of cone limit
  Vector2s pointA_;
  Vector2s pointB_;
  Vector2s pointF_;
  MatrixXs A_;
  Vector2s b_;
};
 
template <typename _Scalar>
struct ResidualData2DSurfaceTpl : public ResidualDataAbstractTpl<_Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ResidualDataAbstractTpl<Scalar> Base;
  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
  typedef typename MathBase::Matrix6xs Matrix6xs;
  typedef typename MathBase::Matrix3xs Matrix3xs;
  typedef typename MathBase::VectorXs VectorXs;
 
  template <template <typename Scalar> class Model>
  ResidualData2DSurfaceTpl(Model<Scalar>* const model,
                           DataCollectorAbstract* const data)
      : Base(model, data), fJf(6, model->get_state()->get_nv()) {
    fJf.setZero();
    //  Check that proper shared data has been passed
    DataCollectorMultibodyTpl<Scalar>* d =
        dynamic_cast<DataCollectorMultibodyTpl<Scalar>*>(shared);
    if (d == NULL) {
      throw_pretty(
          "Invalid argument: the shared data should be derived from "
          "DataCollectorMultibody");
    }
 
    // Avoids data casting at runtime
    pinocchio = d->pinocchio;
  }
 
  pinocchio::DataTpl<Scalar>* pinocchio;  
  Matrix6xs fJf;                          
 
  using Base::r;
  using Base::Ru;
  using Base::Rx;
  using Base::shared;
};
 
}  // namespace sobec
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
 
#include "sobec/crocomplements/residual-2D-surface.hxx"
 
#endif  // SOBEC_RESIDUAL_2D_surface_HPP_