crocoddyl 1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
 
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frame-velocity.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_VELOCITY_HPP_
10#define CROCODDYL_MULTIBODY_RESIDUALS_FRAME_VELOCITY_HPP_
11
12#include <pinocchio/multibody/fwd.hpp>
13#include <pinocchio/spatial/motion.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
37template <typename _Scalar>
39 public:
40 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
41
42 typedef _Scalar Scalar;
49 typedef pinocchio::MotionTpl<Scalar> Motion;
50 typedef typename MathBase::VectorXs VectorXs;
51
61 ResidualModelFrameVelocityTpl(boost::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id,
62 const Motion& velocity, const pinocchio::ReferenceFrame type, const std::size_t nu);
63
74 ResidualModelFrameVelocityTpl(boost::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id,
75 const Motion& velocity, const pinocchio::ReferenceFrame type);
77
85 virtual void calc(const boost::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
86 const Eigen::Ref<const VectorXs>& u);
87
95 virtual void calcDiff(const boost::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
96 const Eigen::Ref<const VectorXs>& u);
97
101 virtual boost::shared_ptr<ResidualDataAbstract> createData(DataCollectorAbstract* const data);
102
106 pinocchio::FrameIndex get_id() const;
107
111 const Motion& get_reference() const;
112
116 pinocchio::ReferenceFrame get_type() const;
117
121 void set_id(const pinocchio::FrameIndex id);
122
126 void set_reference(const Motion& velocity);
127
131 void set_type(const pinocchio::ReferenceFrame type);
132
138 virtual void print(std::ostream& os) const;
139
140 protected:
141 using Base::nr_;
142 using Base::nu_;
143 using Base::state_;
144 using Base::u_dependent_;
145 using Base::unone_;
146
147 private:
148 pinocchio::FrameIndex id_;
149 Motion vref_;
150 pinocchio::ReferenceFrame type_;
151 boost::shared_ptr<typename StateMultibody::PinocchioModel> pin_model_;
152};
153
154template <typename _Scalar>
156 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
157
158 typedef _Scalar Scalar;
162 typedef typename MathBase::Matrix6xs Matrix6xs;
163
164 template <template <typename Scalar> class Model>
165 ResidualDataFrameVelocityTpl(Model<Scalar>* const model, DataCollectorAbstract* const data) : Base(model, data) {
166 // Check that proper shared data has been passed
168 if (d == NULL) {
169 throw_pretty("Invalid argument: the shared data should be derived from DataCollectorMultibody");
170 }
171
172 // Avoids data casting at runtime
173 pinocchio = d->pinocchio;
174 }
175
176 pinocchio::DataTpl<Scalar>* pinocchio;
177 using Base::r;
178 using Base::Ru;
179 using Base::Rx;
180 using Base::shared;
181};
182
183} // namespace crocoddyl
184
185/* --- Details -------------------------------------------------------------- */
186/* --- Details -------------------------------------------------------------- */
187/* --- Details -------------------------------------------------------------- */
188#include "crocoddyl/multibody/residuals/frame-velocity.hxx"
189
190#endif // CROCODDYL_MULTIBODY_RESIDUALS_FRAME_VELOCITY_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.
std::size_t nr_
Residual vector dimension.
virtual boost::shared_ptr< ResidualDataAbstract > createData(DataCollectorAbstract *const data)
Create the frame velocity residual data.
virtual void print(std::ostream &os) const
Print relevant information of the frame-velocity residual.
void set_reference(const Motion &velocity)
Return reference velocity.
ResidualModelFrameVelocityTpl(boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Motion &velocity, const pinocchio::ReferenceFrame type)
Initialize the frame velocity residual model.
ResidualModelFrameVelocityTpl(boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Motion &velocity, const pinocchio::ReferenceFrame type, const std::size_t nu)
Initialize the frame velocity residual model.
void set_id(const pinocchio::FrameIndex id)
Return 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 velocity residual vector.
pinocchio::FrameIndex get_id() const
Modify the reference frame id.
void set_type(const pinocchio::ReferenceFrame type)
Return reference type of velocity.
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 frame velocity residual.
const Motion & get_reference() const
Modify the reference velocity.
pinocchio::ReferenceFrame get_type() const
Modify the reference type of velocity.
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.
DataCollectorAbstract * shared
Shared data allocated by the action model.
pinocchio::DataTpl< Scalar > * pinocchio
Pinocchio data.