9 #ifndef CROCODDYL_MULTIBODY_RESIDUALS_MOMENTUM_HPP_ 10 #define CROCODDYL_MULTIBODY_RESIDUALS_MOMENTUM_HPP_ 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" 32 template <
typename _Scalar>
33 class ResidualModelCentroidalMomentumTpl :
public ResidualModelAbstractTpl<_Scalar> {
35 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
37 typedef _Scalar Scalar;
38 typedef MathBaseTpl<Scalar> MathBase;
39 typedef ResidualModelAbstractTpl<Scalar> Base;
40 typedef ResidualDataCentroidalMomentumTpl<Scalar> Data;
41 typedef StateMultibodyTpl<Scalar> StateMultibody;
42 typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
43 typedef ActivationModelAbstractTpl<Scalar> ActivationModelAbstract;
44 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
45 typedef typename MathBase::Vector6s Vector6s;
46 typedef typename MathBase::VectorXs VectorXs;
47 typedef typename MathBase::Matrix6xs Matrix6xs;
57 const std::size_t nu);
77 virtual void calc(
const boost::shared_ptr<ResidualDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
78 const Eigen::Ref<const VectorXs>& u);
87 virtual void calcDiff(
const boost::shared_ptr<ResidualDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
88 const Eigen::Ref<const VectorXs>& u);
93 virtual boost::shared_ptr<ResidualDataAbstract>
createData(DataCollectorAbstract*
const data);
110 virtual void print(std::ostream& os)
const;
120 boost::shared_ptr<typename StateMultibody::PinocchioModel> pin_model_;
123 template <
typename _Scalar>
124 struct ResidualDataCentroidalMomentumTpl :
public ResidualDataAbstractTpl<_Scalar> {
125 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
127 typedef _Scalar Scalar;
128 typedef MathBaseTpl<Scalar> MathBase;
129 typedef ResidualDataAbstractTpl<Scalar> Base;
130 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
131 typedef typename MathBase::Matrix6xs Matrix6xs;
133 template <
template <
typename Scalar>
class Model>
134 ResidualDataCentroidalMomentumTpl(Model<Scalar>*
const model, DataCollectorAbstract*
const data)
135 : Base(model, data), dhd_dq(6, model->
get_state()->get_nv()), dhd_dv(6, model->
get_state()->get_nv()) {
140 DataCollectorMultibodyTpl<Scalar>* d =
dynamic_cast<DataCollectorMultibodyTpl<Scalar>*
>(shared);
142 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorMultibody");
146 pinocchio = d->pinocchio;
163 #include "crocoddyl/multibody/residuals/centroidal-momentum.hxx" 165 #endif // CROCODDYL_MULTIBODY_RESIDUALS_MOMENTUM_HPP_ pinocchio::DataTpl< Scalar > * pinocchio
Pinocchio data.
Matrix6xs dhd_dq
Jacobian of the centroidal momentum.
bool u_dependent_
Label that indicates if the residual function depends on u.
const boost::shared_ptr< StateAbstract > & get_state() const
Return the state.
void set_reference(const Vector6s &href)
Modify the reference centroidal momentum.
virtual void print(std::ostream &os) const
Print relevant information of the centroidal-momentum residual.
std::size_t nu_
Control dimension.
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 centroidal momentum residual.
virtual boost::shared_ptr< ResidualDataAbstract > createData(DataCollectorAbstract *const data)
Create the centroidal momentum residual data.
virtual void calc(const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the centroidal momentum residual.
ResidualModelCentroidalMomentumTpl(boost::shared_ptr< StateMultibody > state, const Vector6s &href, const std::size_t nu)
Initialize the centroidal momentum residual model.
boost::shared_ptr< StateAbstract > state_
State description.
VectorXs unone_
No control vector.
const Vector6s & get_reference() const
Return the reference centroidal momentum.
Matrix6xs dhd_dv
Jacobian of the centroidal momentum.