crocoddyl  1.8.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
frame-velocity.hpp
1 // BSD 3-Clause License
3 //
4 // Copyright (C) 2021, University of Edinburgh
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
8 
9 #ifndef CROCODDYL_MULTIBODY_RESIDUALS_FRAME_VELOCITY_HPP_
10 #define CROCODDYL_MULTIBODY_RESIDUALS_FRAME_VELOCITY_HPP_
11 
12 #include <pinocchio/multibody/fwd.hpp>
13 #include <pinocchio/spatial/motion.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 
37 template <typename _Scalar>
38 class ResidualModelFrameVelocityTpl : public ResidualModelAbstractTpl<_Scalar> {
39  public:
40  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
41 
42  typedef _Scalar Scalar;
43  typedef MathBaseTpl<Scalar> MathBase;
44  typedef ResidualModelAbstractTpl<Scalar> Base;
45  typedef ResidualDataFrameVelocityTpl<Scalar> Data;
46  typedef StateMultibodyTpl<Scalar> StateMultibody;
47  typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
48  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
49  typedef pinocchio::MotionTpl<Scalar> Motion;
50  typedef typename MathBase::VectorXs VectorXs;
51 
61  ResidualModelFrameVelocityTpl(boost::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id,
62  const Motion& velocity, const pinocchio::ReferenceFrame type, const std::size_t nu);
63 
74  ResidualModelFrameVelocityTpl(boost::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id,
75  const Motion& velocity, const pinocchio::ReferenceFrame type);
77 
85  virtual void calc(const boost::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
86  const Eigen::Ref<const VectorXs>& u);
87 
95  virtual void calcDiff(const boost::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
96  const Eigen::Ref<const VectorXs>& u);
97 
101  virtual boost::shared_ptr<ResidualDataAbstract> createData(DataCollectorAbstract* const data);
102 
106  pinocchio::FrameIndex get_id() const;
107 
111  const Motion& get_reference() const;
112 
116  pinocchio::ReferenceFrame get_type() const;
117 
121  void set_id(const pinocchio::FrameIndex id);
122 
126  void set_reference(const Motion& velocity);
127 
131  void set_type(const pinocchio::ReferenceFrame type);
132 
138  virtual void print(std::ostream& os) const;
139 
140  protected:
141  using Base::nr_;
142  using Base::nu_;
143  using Base::state_;
144  using Base::u_dependent_;
145  using Base::unone_;
146 
147  private:
148  pinocchio::FrameIndex id_;
149  Motion vref_;
150  pinocchio::ReferenceFrame type_;
151  boost::shared_ptr<typename StateMultibody::PinocchioModel> pin_model_;
152 };
153 
154 template <typename _Scalar>
155 struct ResidualDataFrameVelocityTpl : public ResidualDataAbstractTpl<_Scalar> {
156  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
157 
158  typedef _Scalar Scalar;
159  typedef MathBaseTpl<Scalar> MathBase;
160  typedef ResidualDataAbstractTpl<Scalar> Base;
161  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
162  typedef typename MathBase::Matrix6xs Matrix6xs;
163 
164  template <template <typename Scalar> class Model>
165  ResidualDataFrameVelocityTpl(Model<Scalar>* const model, DataCollectorAbstract* const data) : Base(model, data) {
166  // Check that proper shared data has been passed
167  DataCollectorMultibodyTpl<Scalar>* d = dynamic_cast<DataCollectorMultibodyTpl<Scalar>*>(shared);
168  if (d == NULL) {
169  throw_pretty("Invalid argument: the shared data should be derived from DataCollectorMultibody");
170  }
171 
172  // Avoids data casting at runtime
173  pinocchio = d->pinocchio;
174  }
175 
176  pinocchio::DataTpl<Scalar>* pinocchio;
177  using Base::r;
178  using Base::Ru;
179  using Base::Rx;
180  using Base::shared;
181 };
182 
183 } // namespace crocoddyl
184 
185 /* --- Details -------------------------------------------------------------- */
186 /* --- Details -------------------------------------------------------------- */
187 /* --- Details -------------------------------------------------------------- */
188 #include "crocoddyl/multibody/residuals/frame-velocity.hxx"
189 
190 #endif // CROCODDYL_MULTIBODY_RESIDUALS_FRAME_VELOCITY_HPP_
pinocchio::FrameIndex get_id() const
Modify the reference frame id.
void set_id(const pinocchio::FrameIndex id)
Return reference frame id.
ResidualModelFrameVelocityTpl(boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Motion &velocity, const pinocchio::ReferenceFrame type, const std::size_t nu)
Initialize the frame velocity residual model.
pinocchio::DataTpl< Scalar > * pinocchio
Pinocchio data.
std::size_t nr_
Residual vector dimension.
bool u_dependent_
Label that indicates if the residual function depends on u.
virtual boost::shared_ptr< ResidualDataAbstract > createData(DataCollectorAbstract *const data)
Create the frame velocity residual data.
std::size_t nu_
Control dimension.
void set_type(const pinocchio::ReferenceFrame type)
Return reference type of velocity.
void set_reference(const Motion &velocity)
Return reference velocity.
virtual void calc(const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the frame velocity residual vector.
virtual void calcDiff(const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the Jacobians of the frame velocity residual.
virtual void print(std::ostream &os) const
Print relevant information of the frame-velocity residual.
boost::shared_ptr< StateAbstract > state_
State description.
VectorXs unone_
No control vector.
const Motion & get_reference() const
Modify the reference velocity.
pinocchio::ReferenceFrame get_type() const
Modify the reference type of velocity.