crocoddyl 1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
 
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control-gravity.hpp
1
2// BSD 3-Clause License
3//
4// Copyright (C) 2020-2021, 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_CONTROL_GRAVITY_HPP_
10#define CROCODDYL_MULTIBODY_RESIDUALS_CONTROL_GRAVITY_HPP_
11
12#include "crocoddyl/core/residual-base.hpp"
13#include "crocoddyl/multibody/states/multibody.hpp"
14#include "crocoddyl/multibody/data/multibody.hpp"
15#include "crocoddyl/core/utils/exception.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::VectorXs VectorXs;
45 typedef typename MathBase::MatrixXs MatrixXs;
46
53 ResidualModelControlGravTpl(boost::shared_ptr<StateMultibody> state, const std::size_t nu);
54
62 ResidualModelControlGravTpl(boost::shared_ptr<StateMultibody> state);
64
72 virtual void calc(const boost::shared_ptr<ResidualDataAbstract> &data, const Eigen::Ref<const VectorXs> &x,
73 const Eigen::Ref<const VectorXs> &u);
74
79 virtual void calc(const boost::shared_ptr<ResidualDataAbstract> &data, const Eigen::Ref<const VectorXs> &x);
80
88 virtual void calcDiff(const boost::shared_ptr<ResidualDataAbstract> &data, const Eigen::Ref<const VectorXs> &x,
89 const Eigen::Ref<const VectorXs> &u);
90
95 virtual void calcDiff(const boost::shared_ptr<ResidualDataAbstract> &data, const Eigen::Ref<const VectorXs> &x);
96
97 virtual boost::shared_ptr<ResidualDataAbstract> createData(DataCollectorAbstract *const data);
98
104 virtual void print(std::ostream &os) const;
105
106 protected:
107 using Base::nu_;
108 using Base::state_;
109 using Base::unone_;
110 using Base::v_dependent_;
111
112 private:
113 typename StateMultibody::PinocchioModel pin_model_;
114};
115
116template <typename _Scalar>
118 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
119
120 typedef _Scalar Scalar;
125 typedef pinocchio::DataTpl<Scalar> PinocchioData;
126
127 template <template <typename Scalar> class Model>
128 ResidualDataControlGravTpl(Model<Scalar> *const model, DataCollectorAbstract *const data) : Base(model, data) {
129 // Check that proper shared data has been passed
131 if (d == NULL) {
132 throw_pretty("Invalid argument: the shared data should be derived from DataCollectorActMultibodyTpl");
133 }
134 // Avoids data casting at runtime
135 StateMultibody *sm = static_cast<StateMultibody *>(model->get_state().get());
136 pinocchio = PinocchioData(*(sm->get_pinocchio().get()));
137 actuation = d->actuation;
138 }
139
140 PinocchioData pinocchio;
141 boost::shared_ptr<ActuationDataAbstractTpl<Scalar> > actuation;
142 using Base::r;
143 using Base::Ru;
144 using Base::Rx;
145 using Base::shared;
146};
147
148} // namespace crocoddyl
149
150/* --- Details -------------------------------------------------------------- */
151/* --- Details -------------------------------------------------------------- */
152/* --- Details -------------------------------------------------------------- */
153#include "crocoddyl/multibody/residuals/control-gravity.hxx"
154
155#endif // CROCODDYL_MULTIBODY_RESIDUALS_CONTROL_GRAVITY_HPP_
Abstract class for residual models.
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.
virtual void calc(const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
virtual boost::shared_ptr< ResidualDataAbstract > createData(DataCollectorAbstract *const data)
Create the residual data.
virtual void calcDiff(const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
virtual void print(std::ostream &os) const
Print relevant information of the control-grav residual.
virtual void calc(const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the control gravity 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 control gravity residual.
ResidualModelControlGravTpl(boost::shared_ptr< StateMultibody > state, const std::size_t nu)
Initialize the control gravity residual model.
ResidualModelControlGravTpl(boost::shared_ptr< StateMultibody > state)
Initialize the control gravity residual model.
State multibody representation.
Definition: multibody.hpp:31
const boost::shared_ptr< PinocchioModel > & get_pinocchio() const
Return the Pinocchio model (i.e., model of the rigid body system)
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.
PinocchioData pinocchio
Pinocchio data.
boost::shared_ptr< ActuationDataAbstractTpl< Scalar > > actuation
Actuation data.
DataCollectorAbstract * shared
Shared data allocated by the action model.