crocoddyl 1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
 
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frame-translation.hpp
1
3// BSD 3-Clause License
4//
5// Copyright (C) 2021, LAAS-CNRS, University of Edinburgh
6// Copyright note valid unless otherwise stated in individual files.
7// All rights reserved.
9
10#ifndef CROCODDYL_MULTIBODY_RESIDUALS_FRAME_TRANSLATION_HPP_
11#define CROCODDYL_MULTIBODY_RESIDUALS_FRAME_TRANSLATION_HPP_
12
13#include <pinocchio/multibody/fwd.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 typename MathBase::Vector3s Vector3s;
50
59 ResidualModelFrameTranslationTpl(boost::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex,
60 const Vector3s& xref, const std::size_t nu);
61
71 ResidualModelFrameTranslationTpl(boost::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id,
72 const Vector3s& xref);
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 Vector3s& get_reference() const;
109
113 void set_id(const pinocchio::FrameIndex id);
114
118 void set_reference(const Vector3s& 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 Vector3s xref_;
137 boost::shared_ptr<typename StateMultibody::PinocchioModel> pin_model_;
138};
139
140template <typename _Scalar>
142 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
143
144 typedef _Scalar Scalar;
148 typedef typename MathBase::Matrix6xs Matrix6xs;
149
150 template <template <typename Scalar> class Model>
151 ResidualDataFrameTranslationTpl(Model<Scalar>* const model, DataCollectorAbstract* const data)
152 : Base(model, data), fJf(6, model->get_state()->get_nv()) {
153 fJf.setZero();
154 // Check that proper shared data has been passed
156 if (d == NULL) {
157 throw_pretty("Invalid argument: the shared data should be derived from DataCollectorMultibody");
158 }
159
160 // Avoids data casting at runtime
161 pinocchio = d->pinocchio;
162 }
163
164 pinocchio::DataTpl<Scalar>* pinocchio;
165 Matrix6xs fJf;
166
167 using Base::r;
168 using Base::Ru;
169 using Base::Rx;
170 using Base::shared;
171};
172
173} // namespace crocoddyl
174
175/* --- Details -------------------------------------------------------------- */
176/* --- Details -------------------------------------------------------------- */
177/* --- Details -------------------------------------------------------------- */
178#include "crocoddyl/multibody/residuals/frame-translation.hxx"
179
180#endif // CROCODDYL_MULTIBODY_RESIDUALS_FRAME_TRANSLATION_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.
void set_reference(const Vector3s &reference)
Modify the reference frame translation reference.
const Vector3s & get_reference() const
Return the reference frame translation.
virtual boost::shared_ptr< ResidualDataAbstract > createData(DataCollectorAbstract *const data)
Create the frame translation residual data.
virtual void print(std::ostream &os) const
Print relevant information of the frame-translation residual.
void set_id(const pinocchio::FrameIndex id)
Modify the reference frame id.
ResidualModelFrameTranslationTpl(boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex, const Vector3s &xref, const std::size_t nu)
Initialize the frame translation residual model.
ResidualModelFrameTranslationTpl(boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Vector3s &xref)
Initialize the frame translation 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 frame translation 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 translation 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 fJf
Local Jacobian of the frame.
DataCollectorAbstract * shared
Shared data allocated by the action model.
pinocchio::DataTpl< Scalar > * pinocchio
Pinocchio data.