crocoddyl  1.8.1
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
control-gravity.hpp
1 // BSD 3-Clause License
3 //
4 // Copyright (C) 2020-2021, LAAS-CNRS, University of Edinburgh
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
8 
9 #ifndef CROCODDYL_MULTIBODY_RESIDUALS_CONTROL_GRAVITY_HPP_
10 #define CROCODDYL_MULTIBODY_RESIDUALS_CONTROL_GRAVITY_HPP_
11 
12 #include "crocoddyl/core/residual-base.hpp"
13 #include "crocoddyl/multibody/states/multibody.hpp"
14 #include "crocoddyl/multibody/data/multibody.hpp"
15 #include "crocoddyl/core/utils/exception.hpp"
16 
17 namespace crocoddyl {
18 
32 template <typename _Scalar>
34  public:
35  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
36 
37  typedef _Scalar Scalar;
44  typedef typename MathBase::VectorXs VectorXs;
45  typedef typename MathBase::MatrixXs MatrixXs;
46 
53  ResidualModelControlGravTpl(boost::shared_ptr<StateMultibody> state, const std::size_t nu);
54 
62  ResidualModelControlGravTpl(boost::shared_ptr<StateMultibody> state);
63  virtual ~ResidualModelControlGravTpl();
64 
72  virtual void calc(const boost::shared_ptr<ResidualDataAbstract> &data, const Eigen::Ref<const VectorXs> &x,
73  const Eigen::Ref<const VectorXs> &u);
74 
82  virtual void calcDiff(const boost::shared_ptr<ResidualDataAbstract> &data, const Eigen::Ref<const VectorXs> &x,
83  const Eigen::Ref<const VectorXs> &u);
84 
85  virtual boost::shared_ptr<ResidualDataAbstract> createData(DataCollectorAbstract *const data);
86 
92  virtual void print(std::ostream &os) const;
93 
94  protected:
95  using Base::nu_;
96  using Base::state_;
97  using Base::unone_;
98  using Base::v_dependent_;
99 
100  private:
101  typename StateMultibody::PinocchioModel pin_model_;
102 };
103 
104 template <typename _Scalar>
106  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
107 
108  typedef _Scalar Scalar;
113  typedef pinocchio::DataTpl<Scalar> PinocchioData;
114 
115  template <template <typename Scalar> class Model>
116  ResidualDataControlGravTpl(Model<Scalar> *const model, DataCollectorAbstract *const data) : Base(model, data) {
117  // Check that proper shared data has been passed
119  if (d == NULL) {
120  throw_pretty("Invalid argument: the shared data should be derived from DataCollectorActMultibodyTpl");
121  }
122  // Avoids data casting at runtime
123  StateMultibody *sm = static_cast<StateMultibody *>(model->get_state().get());
124  pinocchio = PinocchioData(*(sm->get_pinocchio().get()));
125  actuation = d->actuation;
126  }
127 
128  PinocchioData pinocchio;
129  boost::shared_ptr<ActuationDataAbstractTpl<Scalar> > actuation;
130  using Base::r;
131  using Base::Ru;
132  using Base::Rx;
133  using Base::shared;
134 };
135 
136 } // namespace crocoddyl
137 
138 /* --- Details -------------------------------------------------------------- */
139 /* --- Details -------------------------------------------------------------- */
140 /* --- Details -------------------------------------------------------------- */
141 #include "crocoddyl/multibody/residuals/control-gravity.hxx"
142 
143 #endif // CROCODDYL_MULTIBODY_RESIDUALS_CONTROL_GRAVITY_HPP_
Abstract class for residual models.
boost::shared_ptr< StateAbstract > state_
State description.
std::size_t nu_
Control dimension.
VectorXs unone_
No control vector.
bool v_dependent_
Label that indicates if the residual function depends on v.
virtual void print(std::ostream &os) const
Print relevant information of the control-grav residual.
virtual void calc(const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the control gravity residual.
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 control gravity residual.
virtual boost::shared_ptr< ResidualDataAbstract > createData(DataCollectorAbstract *const data)
Create the residual data.
ResidualModelControlGravTpl(boost::shared_ptr< StateMultibody > state, const std::size_t nu)
Initialize the control gravity residual model.
ResidualModelControlGravTpl(boost::shared_ptr< StateMultibody > state)
Initialize the control gravity residual model.
State multibody representation.
Definition: multibody.hpp:31
const boost::shared_ptr< PinocchioModel > & get_pinocchio() const
Return the Pinocchio model (i.e., model of the rigid body system)
MatrixXs Ru
Jacobian of the residual vector with respect the control.
MatrixXs Rx
Jacobian of the residual vector with respect the state.
DataCollectorAbstract * shared
Shared data allocated by the action model.
PinocchioData pinocchio
Pinocchio data.
boost::shared_ptr< ActuationDataAbstractTpl< Scalar > > actuation
Actuation data.
DataCollectorAbstract * shared
Shared data allocated by the action model.