crocoddyl  1.8.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
frame-translation.hpp
1 
3 // BSD 3-Clause License
4 //
5 // Copyright (C) 2021, University of Edinburgh
6 // Copyright note valid unless otherwise stated in individual files.
7 // All rights reserved.
9 
10 #ifndef CROCODDYL_MULTIBODY_RESIDUALS_FRAME_TRANSLATION_HPP_
11 #define CROCODDYL_MULTIBODY_RESIDUALS_FRAME_TRANSLATION_HPP_
12 
13 #include <pinocchio/multibody/fwd.hpp>
14 
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"
20 
21 namespace crocoddyl {
22 
36 template <typename _Scalar>
37 class ResidualModelFrameTranslationTpl : public ResidualModelAbstractTpl<_Scalar> {
38  public:
39  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
40 
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;
50 
59  ResidualModelFrameTranslationTpl(boost::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex,
60  const Vector3s& xref, const std::size_t nu);
61 
71  ResidualModelFrameTranslationTpl(boost::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id,
72  const Vector3s& xref);
74 
82  virtual void calc(const boost::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
83  const Eigen::Ref<const VectorXs>& u);
84 
92  virtual void calcDiff(const boost::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
93  const Eigen::Ref<const VectorXs>& u);
94 
98  virtual boost::shared_ptr<ResidualDataAbstract> createData(DataCollectorAbstract* const data);
99 
103  pinocchio::FrameIndex get_id() const;
104 
108  const Vector3s& get_reference() const;
109 
113  void set_id(const pinocchio::FrameIndex id);
114 
118  void set_reference(const Vector3s& reference);
119 
125  virtual void print(std::ostream& os) const;
126 
127  protected:
128  using Base::nu_;
129  using Base::state_;
130  using Base::u_dependent_;
131  using Base::unone_;
132  using Base::v_dependent_;
133 
134  private:
135  pinocchio::FrameIndex id_;
136  Vector3s xref_;
137  boost::shared_ptr<typename StateMultibody::PinocchioModel> pin_model_;
138 };
139 
140 template <typename _Scalar>
141 struct ResidualDataFrameTranslationTpl : public ResidualDataAbstractTpl<_Scalar> {
142  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
143 
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;
149 
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()) {
153  fJf.setZero();
154  // Check that proper shared data has been passed
155  DataCollectorMultibodyTpl<Scalar>* d = dynamic_cast<DataCollectorMultibodyTpl<Scalar>*>(shared);
156  if (d == NULL) {
157  throw_pretty("Invalid argument: the shared data should be derived from DataCollectorMultibody");
158  }
159 
160  // Avoids data casting at runtime
161  pinocchio = d->pinocchio;
162  }
163 
164  pinocchio::DataTpl<Scalar>* pinocchio;
165  Matrix6xs fJf;
166 
167  using Base::r;
168  using Base::Ru;
169  using Base::Rx;
170  using Base::shared;
171 };
172 
173 } // namespace crocoddyl
174 
175 /* --- Details -------------------------------------------------------------- */
176 /* --- Details -------------------------------------------------------------- */
177 /* --- Details -------------------------------------------------------------- */
178 #include "crocoddyl/multibody/residuals/frame-translation.hxx"
179 
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.