residual-dcm-position.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 CROCODDYL_MULTIBODY_RESIDUAL_DCM_POSITION_HPP_
#define CROCODDYL_MULTIBODY_RESIDUAL_DCM_POSITION_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 ResidualModelDCMPositionTpl : public ResidualModelAbstractTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ResidualModelAbstractTpl<Scalar> Base;
  typedef ResidualDataDCMPositionTpl<Scalar> Data;
  typedef StateMultibodyTpl<Scalar> StateMultibody;
  typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
  typedef typename MathBase::Vector3s Vector3s;
  typedef typename MathBase::VectorXs VectorXs;
 
  ResidualModelDCMPositionTpl(boost::shared_ptr<StateMultibody> state,
                              const Vector3s& cref, const double alpha,
                              const std::size_t nu);
 
  ResidualModelDCMPositionTpl(boost::shared_ptr<StateMultibody> state,
                              const Vector3s& cref, const double alpha);
  virtual ~ResidualModelDCMPositionTpl();
 
  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 Vector3s& get_reference() const;
 
  void set_reference(const Vector3s& cref);
 
  virtual void print(std::ostream& os) const;
 
 protected:
  using Base::nu_;
  using Base::state_;
  using Base::u_dependent_;
  using Base::unone_;
  using Base::v_dependent_;
 
 private:
  Vector3s cref_;  
  double alpha_;   
  typename StateMultibody::PinocchioModel
      pin_model_;  
};
 
template <typename _Scalar>
struct ResidualDataDCMPositionTpl : 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::Matrix3xs Matrix3xs;
 
  template <template <typename Scalar> class Model>
  ResidualDataDCMPositionTpl(Model<Scalar>* const model,
                             DataCollectorAbstract* const data)
      : Base(model, data), dvcom_dq(3, model->get_state()->get_nv()) {
    dvcom_dq.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;
  }
  Matrix3xs dvcom_dq;
  pinocchio::DataTpl<Scalar>* pinocchio;  
  using Base::r;
  using Base::Ru;
  using Base::Rx;
  using Base::shared;
};
 
}  // namespace sobec
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "sobec/crocomplements/residual-dcm-position.hxx"
 
#endif  // SOBEC_RESIDUAL_DCM_POSITION_HPP_