crocoddyl 1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
 
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centroidal-momentum.hpp
1
2// BSD 3-Clause License
3//
4// Copyright (C) 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_MOMENTUM_HPP_
10#define CROCODDYL_MULTIBODY_RESIDUALS_MOMENTUM_HPP_
11
12#include "crocoddyl/multibody/fwd.hpp"
13#include "crocoddyl/core/residual-base.hpp"
14#include "crocoddyl/multibody/states/multibody.hpp"
15#include "crocoddyl/multibody/data/multibody.hpp"
16
17namespace crocoddyl {
18
32template <typename _Scalar>
34 public:
35 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
36
37 typedef _Scalar Scalar;
45 typedef typename MathBase::Vector6s Vector6s;
46 typedef typename MathBase::VectorXs VectorXs;
47 typedef typename MathBase::Matrix6xs Matrix6xs;
48
56 ResidualModelCentroidalMomentumTpl(boost::shared_ptr<StateMultibody> state, const Vector6s& href,
57 const std::size_t nu);
58
67 ResidualModelCentroidalMomentumTpl(boost::shared_ptr<StateMultibody> state, const Vector6s& href);
69
77 virtual void calc(const boost::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
78 const Eigen::Ref<const VectorXs>& u);
79
87 virtual void calcDiff(const boost::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
88 const Eigen::Ref<const VectorXs>& u);
89
93 virtual boost::shared_ptr<ResidualDataAbstract> createData(DataCollectorAbstract* const data);
94
98 const Vector6s& get_reference() const;
99
103 void set_reference(const Vector6s& href);
104
110 virtual void print(std::ostream& os) const;
111
112 protected:
113 using Base::nu_;
114 using Base::state_;
115 using Base::u_dependent_;
116 using Base::unone_;
117
118 private:
119 Vector6s href_;
120 boost::shared_ptr<typename StateMultibody::PinocchioModel> pin_model_;
121};
122
123template <typename _Scalar>
125 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
126
127 typedef _Scalar Scalar;
131 typedef typename MathBase::Matrix6xs Matrix6xs;
132
133 template <template <typename Scalar> class Model>
134 ResidualDataCentroidalMomentumTpl(Model<Scalar>* const model, DataCollectorAbstract* const data)
135 : Base(model, data), dhd_dq(6, model->get_state()->get_nv()), dhd_dv(6, model->get_state()->get_nv()) {
136 dhd_dq.setZero();
137 dhd_dv.setZero();
138
139 // Check that proper shared data has been passed
141 if (d == NULL) {
142 throw_pretty("Invalid argument: the shared data should be derived from DataCollectorMultibody");
143 }
144
145 // Avoids data casting at runtime
146 pinocchio = d->pinocchio;
147 }
148
149 pinocchio::DataTpl<Scalar>* pinocchio;
150 Matrix6xs dhd_dq;
151 Matrix6xs dhd_dv;
152 using Base::r;
153 using Base::Ru;
154 using Base::Rx;
155 using Base::shared;
156};
157
158} // namespace crocoddyl
159
160/* --- Details -------------------------------------------------------------- */
161/* --- Details -------------------------------------------------------------- */
162/* --- Details -------------------------------------------------------------- */
163#include "crocoddyl/multibody/residuals/centroidal-momentum.hxx"
164
165#endif // CROCODDYL_MULTIBODY_RESIDUALS_MOMENTUM_HPP_
Abstract class for residual models.
bool u_dependent_
Label that indicates if the residual function depends on u.
boost::shared_ptr< StateAbstract > state_
State description.
std::size_t nu_
Control dimension.
VectorXs unone_
No control vector.
ResidualModelCentroidalMomentumTpl(boost::shared_ptr< StateMultibody > state, const Vector6s &href, const std::size_t nu)
Initialize the centroidal momentum residual model.
virtual boost::shared_ptr< ResidualDataAbstract > createData(DataCollectorAbstract *const data)
Create the centroidal momentum residual data.
virtual void print(std::ostream &os) const
Print relevant information of the centroidal-momentum residual.
const Vector6s & get_reference() const
Return the reference centroidal momentum.
virtual void calc(const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the centroidal momentum residual.
void set_reference(const Vector6s &href)
Modify the reference centroidal momentum.
ResidualModelCentroidalMomentumTpl(boost::shared_ptr< StateMultibody > state, const Vector6s &href)
Initialize the centroidal momentum residual model.
virtual void calcDiff(const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the derivatives of the centroidal momentum residual.
State multibody representation.
Definition: multibody.hpp:31
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.
Matrix6xs dhd_dq
Jacobian of the centroidal momentum.
DataCollectorAbstract * shared
Shared data allocated by the action model.
Matrix6xs dhd_dv
Jacobian of the centroidal momentum.
pinocchio::DataTpl< Scalar > * pinocchio
Pinocchio data.