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");
161 pinocchio = d->pinocchio;
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.
const boost::shared_ptr< StateAbstract > & get_state() const
Return the state.
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.
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.