crocoddyl 1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
 
Loading...
Searching...
No Matches
impulse-com.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_IMPULSE_COM_HPP_
10#define CROCODDYL_MULTIBODY_RESIDUALS_IMPULSE_COM_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/impulse-base.hpp"
16#include "crocoddyl/multibody/data/impulses.hpp"
17#include "crocoddyl/core/utils/exception.hpp"
18
19namespace crocoddyl {
20
35template <typename _Scalar>
37 public:
38 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
39
40 typedef _Scalar Scalar;
48 typedef typename MathBase::VectorXs VectorXs;
49
55 ResidualModelImpulseCoMTpl(boost::shared_ptr<StateMultibody> state);
57
65 virtual void calc(const boost::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
66 const Eigen::Ref<const VectorXs>& u);
67
75 virtual void calcDiff(const boost::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
76 const Eigen::Ref<const VectorXs>& u);
77
81 virtual boost::shared_ptr<ResidualDataAbstract> createData(DataCollectorAbstract* const data);
82
88 virtual void print(std::ostream& os) const;
89
90 protected:
91 using Base::nu_;
92 using Base::state_;
94 using Base::unone_;
95
96 private:
97 boost::shared_ptr<typename StateMultibody::PinocchioModel> pin_model_;
98};
99
100template <typename _Scalar>
102 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
103
104 typedef _Scalar Scalar;
109 typedef typename MathBase::MatrixXs MatrixXs;
110 typedef typename MathBase::Matrix3xs Matrix3xs;
111
112 template <template <typename Scalar> class Model>
113 ResidualDataImpulseCoMTpl(Model<Scalar>* const model, DataCollectorAbstract* const data)
114 : Base(model, data),
115 dvc_dq(3, model->get_state()->get_nv()),
116 ddv_dv(model->get_state()->get_nv(), model->get_state()->get_nv()) {
117 dvc_dq.setZero();
118 ddv_dv.setZero();
119 const boost::shared_ptr<StateMultibody>& state = boost::static_pointer_cast<StateMultibody>(model->get_state());
120 pinocchio_internal = pinocchio::DataTpl<Scalar>(*state->get_pinocchio().get());
121 // Check that proper shared data has been passed
123 if (d == NULL) {
124 throw_pretty("Invalid argument: the shared data should be derived from DataCollectorMultibodyInImpulse");
125 }
126 pinocchio = d->pinocchio;
127 impulses = d->impulses;
128 }
129
130 pinocchio::DataTpl<Scalar>* pinocchio;
131 boost::shared_ptr<crocoddyl::ImpulseDataMultipleTpl<Scalar> > impulses;
132 Matrix3xs dvc_dq;
133 MatrixXs ddv_dv;
134 pinocchio::DataTpl<Scalar> pinocchio_internal;
135 using Base::r;
136 using Base::Ru;
137 using Base::Rx;
138 using Base::shared;
139};
140
141} // namespace crocoddyl
142
143/* --- Details -------------------------------------------------------------- */
144/* --- Details -------------------------------------------------------------- */
145/* --- Details -------------------------------------------------------------- */
146#include "crocoddyl/multibody/residuals/impulse-com.hxx"
147
148#endif // CROCODDYL_MULTIBODY_RESIDUALS_IMPULSE_COM_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.
virtual boost::shared_ptr< ResidualDataAbstract > createData(DataCollectorAbstract *const data)
Create the impulse CoM residual data.
virtual void print(std::ostream &os) const
Print relevant information of the impulse-com residual.
ResidualModelImpulseCoMTpl(boost::shared_ptr< StateMultibody > state)
Initialize the impulse CoM residual model.
virtual void calc(const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the impulse CoM 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 impulse CoM 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.
pinocchio::DataTpl< Scalar > pinocchio_internal
Pinocchio data for internal computation.
MatrixXs ddv_dv
Jacobian of the CoM velocity.
Matrix3xs dvc_dq
Jacobian of the CoM velocity.
DataCollectorAbstract * shared
Shared data allocated by the action model.
boost::shared_ptr< crocoddyl::ImpulseDataMultipleTpl< Scalar > > impulses
Impulses data.
pinocchio::DataTpl< Scalar > * pinocchio
Pinocchio data.