9 #ifndef CROCODDYL_MULTIBODY_RESIDUALS_FRAME_VELOCITY_HPP_ 10 #define CROCODDYL_MULTIBODY_RESIDUALS_FRAME_VELOCITY_HPP_ 12 #include <pinocchio/multibody/fwd.hpp> 13 #include <pinocchio/spatial/motion.hpp> 15 #include "crocoddyl/multibody/fwd.hpp" 16 #include "crocoddyl/core/residual-base.hpp" 17 #include "crocoddyl/multibody/states/multibody.hpp" 18 #include "crocoddyl/multibody/data/multibody.hpp" 19 #include "crocoddyl/core/utils/exception.hpp" 37 template <
typename _Scalar>
38 class ResidualModelFrameVelocityTpl :
public ResidualModelAbstractTpl<_Scalar> {
40 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
42 typedef _Scalar Scalar;
43 typedef MathBaseTpl<Scalar> MathBase;
44 typedef ResidualModelAbstractTpl<Scalar> Base;
45 typedef ResidualDataFrameVelocityTpl<Scalar> Data;
46 typedef StateMultibodyTpl<Scalar> StateMultibody;
47 typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
48 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
49 typedef pinocchio::MotionTpl<Scalar> Motion;
50 typedef typename MathBase::VectorXs VectorXs;
62 const Motion& velocity,
const pinocchio::ReferenceFrame type,
const std::size_t nu);
75 const Motion& velocity,
const pinocchio::ReferenceFrame type);
85 virtual void calc(
const boost::shared_ptr<ResidualDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
86 const Eigen::Ref<const VectorXs>& u);
95 virtual void calcDiff(
const boost::shared_ptr<ResidualDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
96 const Eigen::Ref<const VectorXs>& u);
101 virtual boost::shared_ptr<ResidualDataAbstract>
createData(DataCollectorAbstract*
const data);
106 pinocchio::FrameIndex
get_id()
const;
116 pinocchio::ReferenceFrame
get_type()
const;
121 void set_id(
const pinocchio::FrameIndex
id);
131 void set_type(
const pinocchio::ReferenceFrame type);
138 virtual void print(std::ostream& os)
const;
148 pinocchio::FrameIndex id_;
150 pinocchio::ReferenceFrame type_;
151 boost::shared_ptr<typename StateMultibody::PinocchioModel> pin_model_;
154 template <
typename _Scalar>
155 struct ResidualDataFrameVelocityTpl :
public ResidualDataAbstractTpl<_Scalar> {
156 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
158 typedef _Scalar Scalar;
159 typedef MathBaseTpl<Scalar> MathBase;
160 typedef ResidualDataAbstractTpl<Scalar> Base;
161 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
162 typedef typename MathBase::Matrix6xs Matrix6xs;
164 template <
template <
typename Scalar>
class Model>
165 ResidualDataFrameVelocityTpl(Model<Scalar>*
const model, DataCollectorAbstract*
const data) : Base(model, data) {
167 DataCollectorMultibodyTpl<Scalar>* d =
dynamic_cast<DataCollectorMultibodyTpl<Scalar>*
>(shared);
169 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorMultibody");
173 pinocchio = d->pinocchio;
188 #include "crocoddyl/multibody/residuals/frame-velocity.hxx" 190 #endif // CROCODDYL_MULTIBODY_RESIDUALS_FRAME_VELOCITY_HPP_ pinocchio::FrameIndex get_id() const
Modify the reference frame id.
void set_id(const pinocchio::FrameIndex id)
Return reference frame id.
ResidualModelFrameVelocityTpl(boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Motion &velocity, const pinocchio::ReferenceFrame type, const std::size_t nu)
Initialize the frame velocity residual model.
pinocchio::DataTpl< Scalar > * pinocchio
Pinocchio data.
std::size_t nr_
Residual vector dimension.
bool u_dependent_
Label that indicates if the residual function depends on u.
virtual boost::shared_ptr< ResidualDataAbstract > createData(DataCollectorAbstract *const data)
Create the frame velocity residual data.
std::size_t nu_
Control dimension.
void set_type(const pinocchio::ReferenceFrame type)
Return reference type of velocity.
void set_reference(const Motion &velocity)
Return reference velocity.
virtual void calc(const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the frame velocity residual vector.
virtual void calcDiff(const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the Jacobians of the frame velocity residual.
virtual void print(std::ostream &os) const
Print relevant information of the frame-velocity residual.
boost::shared_ptr< StateAbstract > state_
State description.
VectorXs unone_
No control vector.
const Motion & get_reference() const
Modify the reference velocity.
pinocchio::ReferenceFrame get_type() const
Modify the reference type of velocity.