state.hpp

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// BSD 3-Clause License
//
// Copyright (C) 2018-2020, LAAS-CNRS, University of Edinburgh
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
 
#ifndef SOBEC_STATELPF_HPP_
#define SOBEC_STATELPF_HPP_
#include <pinocchio/multibody/model.hpp>
 
#include "crocoddyl/core/state-base.hpp"
#include "sobec/fwd.hpp"
namespace sobec {
using namespace crocoddyl;
 
template <typename _Scalar>
class StateLPFTpl : public StateAbstractTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef StateAbstractTpl<Scalar> Base;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  enum JointType { FreeFlyer = 0, Spherical, Simple };
 
  explicit StateLPFTpl(boost::shared_ptr<pinocchio::ModelTpl<Scalar> > model,
                       std::vector<int> lpf_joint_ids);
  virtual ~StateLPFTpl();
 
  virtual VectorXs zero() const;
  virtual VectorXs rand() const;
  virtual void diff(const Eigen::Ref<const VectorXs>& y0,
                    const Eigen::Ref<const VectorXs>& y1,
                    Eigen::Ref<VectorXs> dyout) const;
  virtual void integrate(const Eigen::Ref<const VectorXs>& y,
                         const Eigen::Ref<const VectorXs>& dy,
                         Eigen::Ref<VectorXs> yout) const;
  virtual void Jdiff(const Eigen::Ref<const VectorXs>&,
                     const Eigen::Ref<const VectorXs>&,
                     Eigen::Ref<MatrixXs> Jfirst, Eigen::Ref<MatrixXs> Jsecond,
                     const Jcomponent firstsecond = both) const;
 
  virtual void Jintegrate(const Eigen::Ref<const VectorXs>& y,
                          const Eigen::Ref<const VectorXs>& dy,
                          Eigen::Ref<MatrixXs> Jfirst,
                          Eigen::Ref<MatrixXs> Jsecond,
                          const Jcomponent firstsecond = both,
                          const AssignmentOp = setto) const;
  virtual void JintegrateTransport(const Eigen::Ref<const VectorXs>& y,
                                   const Eigen::Ref<const VectorXs>& dy,
                                   Eigen::Ref<MatrixXs> Jin,
                                   const Jcomponent firstsecond) const;
 
  const boost::shared_ptr<pinocchio::ModelTpl<Scalar> >& get_pinocchio() const;
  const std::size_t& get_ntau() const;
  const std::size_t& get_ny() const;
  const std::size_t& get_ndy() const;
 
 protected:
  using Base::has_limits_;
  using Base::lb_;
  using Base::ndx_;
  using Base::nq_;
  using Base::nv_;
  using Base::nx_;
  using Base::ub_;
  std::size_t ntau_;
  std::size_t ny_;
  std::size_t ndy_;
 
 private:
  boost::shared_ptr<pinocchio::ModelTpl<Scalar> > pinocchio_;
  VectorXs y0_;
  JointType joint_type_;
};
 
}  // namespace sobec
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "sobec/crocomplements/lowpassfilter/state.hxx"
 
#endif  // SOBEC_STATELPF_HPP_