crocoddyl 1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
 
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frame-placement.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_FRAME_PLACEMENT_HPP_
10#define CROCODDYL_MULTIBODY_RESIDUALS_FRAME_PLACEMENT_HPP_
11
12#include <pinocchio/multibody/fwd.hpp>
13#include <pinocchio/spatial/se3.hpp>
14
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"
20
21namespace crocoddyl {
22
36template <typename _Scalar>
38 public:
39 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
40
41 typedef _Scalar Scalar;
48 typedef typename MathBase::VectorXs VectorXs;
49 typedef pinocchio::SE3Tpl<Scalar> SE3;
50
59 ResidualModelFramePlacementTpl(boost::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id,
60 const SE3& pref, const std::size_t nu);
61
71 ResidualModelFramePlacementTpl(boost::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id,
72 const SE3& pref);
74
82 virtual void calc(const boost::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
83 const Eigen::Ref<const VectorXs>& u);
84
92 virtual void calcDiff(const boost::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
93 const Eigen::Ref<const VectorXs>& u);
94
98 virtual boost::shared_ptr<ResidualDataAbstract> createData(DataCollectorAbstract* const data);
99
103 pinocchio::FrameIndex get_id() const;
104
108 const SE3& get_reference() const;
109
113 void set_id(const pinocchio::FrameIndex id);
114
118 void set_reference(const SE3& reference);
119
125 virtual void print(std::ostream& os) const;
126
127 protected:
128 using Base::nu_;
129 using Base::state_;
130 using Base::u_dependent_;
131 using Base::unone_;
132 using Base::v_dependent_;
133
134 private:
135 pinocchio::FrameIndex id_;
136 SE3 pref_;
137 pinocchio::SE3Tpl<Scalar> oMf_inv_;
138 boost::shared_ptr<typename StateMultibody::PinocchioModel> pin_model_;
139};
140
141template <typename _Scalar>
143 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
144
145 typedef _Scalar Scalar;
149 typedef typename MathBase::Matrix6xs Matrix6xs;
150 typedef typename MathBase::Matrix6s Matrix6s;
151 typedef typename MathBase::Vector6s Vector6s;
152
153 template <template <typename Scalar> class Model>
154 ResidualDataFramePlacementTpl(Model<Scalar>* const model, DataCollectorAbstract* const data)
155 : Base(model, data), rJf(6, 6), fJf(6, model->get_state()->get_nv()) {
156 r.setZero();
157 rJf.setZero();
158 fJf.setZero();
159 // Check that proper shared data has been passed
161 if (d == NULL) {
162 throw_pretty("Invalid argument: the shared data should be derived from DataCollectorMultibody");
163 }
164
165 // Avoids data casting at runtime
166 pinocchio = d->pinocchio;
167 }
168
169 pinocchio::DataTpl<Scalar>* pinocchio;
170 pinocchio::SE3Tpl<Scalar> rMf;
171 Matrix6s rJf;
172 Matrix6xs fJf;
173
174 using Base::r;
175 using Base::Ru;
176 using Base::Rx;
177 using Base::shared;
178};
179
180} // namespace crocoddyl
181
182/* --- Details -------------------------------------------------------------- */
183/* --- Details -------------------------------------------------------------- */
184/* --- Details -------------------------------------------------------------- */
185#include "crocoddyl/multibody/residuals/frame-placement.hxx"
186
187#endif // CROCODDYL_MULTIBODY_RESIDUALS_FRAME_PLACEMENT_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.
bool v_dependent_
Label that indicates if the residual function depends on v.
ResidualModelFramePlacementTpl(boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const SE3 &pref, const std::size_t nu)
Initialize the frame placement residual model.
ResidualModelFramePlacementTpl(boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const SE3 &pref)
Initialize the frame placement residual model.
virtual boost::shared_ptr< ResidualDataAbstract > createData(DataCollectorAbstract *const data)
Create the frame placement residual data.
virtual void print(std::ostream &os) const
Print relevant information of the frame-placement residual.
void set_id(const pinocchio::FrameIndex id)
Modify the reference frame id.
virtual void calc(const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the frame placement residual.
pinocchio::FrameIndex get_id() const
Return the reference frame id.
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 frame placement residual.
const SE3 & get_reference() const
Return the reference frame placement.
void set_reference(const SE3 &reference)
Modify the reference frame placement.
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::SE3Tpl< Scalar > rMf
Error frame placement of the frame.
Matrix6s rJf
Error Jacobian of the frame.
Matrix6xs fJf
Local Jacobian of the frame.
DataCollectorAbstract * shared
Shared data allocated by the action model.
pinocchio::DataTpl< Scalar > * pinocchio
Pinocchio data.