10 #ifndef CROCODDYL_MULTIBODY_RESIDUALS_FRAME_TRANSLATION_HPP_ 11 #define CROCODDYL_MULTIBODY_RESIDUALS_FRAME_TRANSLATION_HPP_ 13 #include <pinocchio/multibody/fwd.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 ResidualModelFrameTranslationTpl :
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 ResidualDataFrameTranslationTpl<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 typename MathBase::Vector3s Vector3s;
60 const Vector3s& xref,
const std::size_t nu);
72 const Vector3s& xref);
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 boost::shared_ptr<typename StateMultibody::PinocchioModel> pin_model_;
140 template <
typename _Scalar>
141 struct ResidualDataFrameTranslationTpl :
public ResidualDataAbstractTpl<_Scalar> {
142 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
144 typedef _Scalar Scalar;
145 typedef MathBaseTpl<Scalar> MathBase;
146 typedef ResidualDataAbstractTpl<Scalar> Base;
147 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
148 typedef typename MathBase::Matrix6xs Matrix6xs;
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()) {
155 DataCollectorMultibodyTpl<Scalar>* d =
dynamic_cast<DataCollectorMultibodyTpl<Scalar>*
>(
shared);
157 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorMultibody");
178 #include "crocoddyl/multibody/residuals/frame-translation.hxx" 180 #endif // CROCODDYL_MULTIBODY_RESIDUALS_FRAME_TRANSLATION_HPP_ 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.
pinocchio::DataTpl< Scalar > * pinocchio
Pinocchio data.
Matrix6xs fJf
Local Jacobian of the frame.
virtual boost::shared_ptr< ResidualDataAbstract > createData(DataCollectorAbstract *const data)
Create the frame translation residual data.
bool u_dependent_
Label that indicates if the residual function depends on u.
pinocchio::FrameIndex get_id() const
Return the 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 translation residual.
std::size_t nu_
Control dimension.
void set_id(const pinocchio::FrameIndex id)
Modify the reference frame id.
MatrixXs Rx
Jacobian of the residual vector with respect the state.
MatrixXs Ru
Jacobian of the residual vector with respect the control.
virtual void print(std::ostream &os) const
Print relevant information of the frame-translation residual.
const Vector3s & get_reference() const
Return the reference frame translation.
boost::shared_ptr< StateAbstract > state_
State description.
VectorXs unone_
No control vector.
ResidualModelFrameTranslationTpl(boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex, const Vector3s &xref, const std::size_t nu)
Initialize the frame translation residual model.
void set_reference(const Vector3s &reference)
Modify the reference frame translation reference.
bool v_dependent_
Label that indicates if the residual function depends on v.
VectorXs r
Residual vector.
DataCollectorAbstract * shared
Shared data allocated by the action model.