crocoddyl 1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
 
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com-position.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_COM_POSITION_HPP_
10#define CROCODDYL_MULTIBODY_RESIDUALS_COM_POSITION_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;
44 typedef typename MathBase::Vector3s Vector3s;
45 typedef typename MathBase::VectorXs VectorXs;
46
54 ResidualModelCoMPositionTpl(boost::shared_ptr<StateMultibody> state, const Vector3s& cref, const std::size_t nu);
55
64 ResidualModelCoMPositionTpl(boost::shared_ptr<StateMultibody> state, const Vector3s& cref);
66
74 virtual void calc(const boost::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
75 const Eigen::Ref<const VectorXs>& u);
76
84 virtual void calcDiff(const boost::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
85 const Eigen::Ref<const VectorXs>& u);
86 virtual boost::shared_ptr<ResidualDataAbstract> createData(DataCollectorAbstract* const data);
87
91 const Vector3s& get_reference() const;
92
96 void set_reference(const Vector3s& cref);
97
103 virtual void print(std::ostream& os) const;
104
105 protected:
106 using Base::nu_;
107 using Base::state_;
108 using Base::u_dependent_;
109 using Base::unone_;
110 using Base::v_dependent_;
111
112 private:
113 Vector3s cref_;
114};
115
116template <typename _Scalar>
118 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
119
120 typedef _Scalar Scalar;
124 typedef typename MathBase::Matrix3xs Matrix3xs;
125
126 template <template <typename Scalar> class Model>
127 ResidualDataCoMPositionTpl(Model<Scalar>* const model, DataCollectorAbstract* const data) : Base(model, data) {
128 // Check that proper shared data has been passed
130 if (d == NULL) {
131 throw_pretty("Invalid argument: the shared data should be derived from DataCollectorMultibody");
132 }
133
134 // Avoids data casting at runtime
135 pinocchio = d->pinocchio;
136 }
137
138 pinocchio::DataTpl<Scalar>* pinocchio;
139 using Base::r;
140 using Base::Ru;
141 using Base::Rx;
142 using Base::shared;
143};
144
145} // namespace crocoddyl
146
147/* --- Details -------------------------------------------------------------- */
148/* --- Details -------------------------------------------------------------- */
149/* --- Details -------------------------------------------------------------- */
150#include "crocoddyl/multibody/residuals/com-position.hxx"
151
152#endif // CROCODDYL_MULTIBODY_RESIDUALS_COM_POSITION_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.
ResidualModelCoMPositionTpl(boost::shared_ptr< StateMultibody > state, const Vector3s &cref)
Initialize the CoM position residual model.
const Vector3s & get_reference() const
Return the CoM position reference.
virtual boost::shared_ptr< ResidualDataAbstract > createData(DataCollectorAbstract *const data)
Create the residual data.
virtual void print(std::ostream &os) const
Print relevant information of the com-position residual.
virtual void calc(const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the CoM position residual.
void set_reference(const Vector3s &cref)
Modify the CoM position reference.
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 CoM position residual.
ResidualModelCoMPositionTpl(boost::shared_ptr< StateMultibody > state, const Vector3s &cref, const std::size_t nu)
Initialize the CoM position residual model.
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.