9 #ifndef CROCODDYL_MULTIBODY_RESIDUALS_FRAME_PLACEMENT_HPP_ 10 #define CROCODDYL_MULTIBODY_RESIDUALS_FRAME_PLACEMENT_HPP_ 12 #include <pinocchio/multibody/fwd.hpp> 13 #include <pinocchio/spatial/se3.hpp> 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" 36 template <
typename _Scalar>
37 class ResidualModelFramePlacementTpl :
public ResidualModelAbstractTpl<_Scalar> {
39 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
41 typedef _Scalar Scalar;
42 typedef MathBaseTpl<Scalar> MathBase;
43 typedef ResidualModelAbstractTpl<Scalar> Base;
44 typedef ResidualDataFramePlacementTpl<Scalar> Data;
45 typedef StateMultibodyTpl<Scalar> StateMultibody;
46 typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
47 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
48 typedef typename MathBase::VectorXs VectorXs;
49 typedef pinocchio::SE3Tpl<Scalar> SE3;
60 const SE3& pref,
const std::size_t nu);
82 virtual void calc(
const boost::shared_ptr<ResidualDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
83 const Eigen::Ref<const VectorXs>& u);
92 virtual void calcDiff(
const boost::shared_ptr<ResidualDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
93 const Eigen::Ref<const VectorXs>& u);
98 virtual boost::shared_ptr<ResidualDataAbstract>
createData(DataCollectorAbstract*
const data);
103 pinocchio::FrameIndex
get_id()
const;
113 void set_id(
const pinocchio::FrameIndex
id);
125 virtual void print(std::ostream& os)
const;
135 pinocchio::FrameIndex id_;
137 pinocchio::SE3Tpl<Scalar> oMf_inv_;
138 boost::shared_ptr<typename StateMultibody::PinocchioModel> pin_model_;
141 template <
typename _Scalar>
142 struct ResidualDataFramePlacementTpl :
public ResidualDataAbstractTpl<_Scalar> {
143 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
145 typedef _Scalar Scalar;
146 typedef MathBaseTpl<Scalar> MathBase;
147 typedef ResidualDataAbstractTpl<Scalar> Base;
148 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
149 typedef typename MathBase::Matrix6xs Matrix6xs;
150 typedef typename MathBase::Matrix6s Matrix6s;
151 typedef typename MathBase::Vector6s Vector6s;
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()) {
160 DataCollectorMultibodyTpl<Scalar>* d =
dynamic_cast<DataCollectorMultibodyTpl<Scalar>*
>(
shared);
162 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorMultibody");
170 pinocchio::SE3Tpl<Scalar>
rMf;
185 #include "crocoddyl/multibody/residuals/frame-placement.hxx" 187 #endif // CROCODDYL_MULTIBODY_RESIDUALS_FRAME_PLACEMENT_HPP_ virtual boost::shared_ptr< ResidualDataAbstract > createData(DataCollectorAbstract *const data)
Create the frame placement residual data.
pinocchio::FrameIndex get_id() const
Return the reference frame id.
pinocchio::DataTpl< Scalar > * pinocchio
Pinocchio data.
ResidualModelFramePlacementTpl(boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const SE3 &pref, const std::size_t nu)
Initialize the frame placement residual model.
bool u_dependent_
Label that indicates if the residual function depends on u.
std::size_t nu_
Control dimension.
Matrix6xs fJf
Local Jacobian of the frame.
virtual void print(std::ostream &os) const
Print relevant information of the frame-placement residual.
MatrixXs Rx
Jacobian of the residual vector with respect the state.
MatrixXs Ru
Jacobian of the residual vector with respect the control.
boost::shared_ptr< StateAbstract > state_
State description.
const SE3 & get_reference() const
Return the reference frame placement.
VectorXs unone_
No control vector.
Matrix6s rJf
Error Jacobian of the frame.
void set_reference(const SE3 &reference)
Modify the reference frame placement.
void set_id(const pinocchio::FrameIndex id)
Modify the reference frame id.
bool v_dependent_
Label that indicates if the residual function depends on v.
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.
VectorXs r
Residual vector.
pinocchio::SE3Tpl< Scalar > rMf
Error frame placement of the frame.
DataCollectorAbstract * shared
Shared data allocated by the action 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 placement residual.