crocoddyl  1.8.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
impulse-com.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_IMPULSE_COM_HPP_
10 #define CROCODDYL_MULTIBODY_RESIDUALS_IMPULSE_COM_HPP_
11 
12 #include "crocoddyl/multibody/fwd.hpp"
13 #include "crocoddyl/core/residual-base.hpp"
14 #include "crocoddyl/multibody/states/multibody.hpp"
15 #include "crocoddyl/multibody/impulse-base.hpp"
16 #include "crocoddyl/multibody/data/impulses.hpp"
17 #include "crocoddyl/multibody/frames.hpp"
18 #include "crocoddyl/core/utils/exception.hpp"
19 
20 namespace crocoddyl {
21 
36 template <typename _Scalar>
37 class ResidualModelImpulseCoMTpl : 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 ResidualDataImpulseCoMTpl<Scalar> Data;
45  typedef StateMultibodyTpl<Scalar> StateMultibody;
46  typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
47  typedef ActivationModelAbstractTpl<Scalar> ActivationModelAbstract;
48  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
49  typedef typename MathBase::VectorXs VectorXs;
50 
56  ResidualModelImpulseCoMTpl(boost::shared_ptr<StateMultibody> state);
57  virtual ~ResidualModelImpulseCoMTpl();
58 
66  virtual void calc(const boost::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
67  const Eigen::Ref<const VectorXs>& u);
68 
76  virtual void calcDiff(const boost::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
77  const Eigen::Ref<const VectorXs>& u);
78 
82  virtual boost::shared_ptr<ResidualDataAbstract> createData(DataCollectorAbstract* const data);
83 
89  virtual void print(std::ostream& os) const;
90 
91  protected:
92  using Base::nu_;
93  using Base::state_;
94  using Base::u_dependent_;
95  using Base::unone_;
96 
97  private:
98  boost::shared_ptr<typename StateMultibody::PinocchioModel> pin_model_;
99 };
100 
101 template <typename _Scalar>
102 struct ResidualDataImpulseCoMTpl : public ResidualDataAbstractTpl<_Scalar> {
103  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
104 
105  typedef _Scalar Scalar;
106  typedef MathBaseTpl<Scalar> MathBase;
107  typedef ResidualDataAbstractTpl<Scalar> Base;
108  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
109  typedef StateMultibodyTpl<Scalar> StateMultibody;
110  typedef typename MathBase::MatrixXs MatrixXs;
111  typedef typename MathBase::Matrix3xs Matrix3xs;
112 
113  template <template <typename Scalar> class Model>
114  ResidualDataImpulseCoMTpl(Model<Scalar>* const model, DataCollectorAbstract* const data)
115  : Base(model, data),
116  dvc_dq(3, model->get_state()->get_nv()),
117  ddv_dv(model->get_state()->get_nv(), model->get_state()->get_nv()) {
118  dvc_dq.setZero();
119  ddv_dv.setZero();
120  const boost::shared_ptr<StateMultibody>& state = boost::static_pointer_cast<StateMultibody>(model->get_state());
121  pinocchio_internal = pinocchio::DataTpl<Scalar>(*state->get_pinocchio().get());
122  // Check that proper shared data has been passed
123  DataCollectorMultibodyInImpulseTpl<Scalar>* d = dynamic_cast<DataCollectorMultibodyInImpulseTpl<Scalar>*>(shared);
124  if (d == NULL) {
125  throw_pretty("Invalid argument: the shared data should be derived from DataCollectorMultibodyInImpulse");
126  }
127  pinocchio = d->pinocchio;
128  impulses = d->impulses;
129  }
130 
131  pinocchio::DataTpl<Scalar>* pinocchio;
132  boost::shared_ptr<crocoddyl::ImpulseDataMultipleTpl<Scalar> > impulses;
133  Matrix3xs dvc_dq;
134  MatrixXs ddv_dv;
135  pinocchio::DataTpl<Scalar> pinocchio_internal;
136  using Base::r;
137  using Base::Ru;
138  using Base::Rx;
139  using Base::shared;
140 };
141 
142 } // namespace crocoddyl
143 
144 /* --- Details -------------------------------------------------------------- */
145 /* --- Details -------------------------------------------------------------- */
146 /* --- Details -------------------------------------------------------------- */
147 #include "crocoddyl/multibody/residuals/impulse-com.hxx"
148 
149 #endif // CROCODDYL_MULTIBODY_RESIDUALS_IMPULSE_COM_HPP_
virtual void calc(const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the impulse CoM residual.
bool u_dependent_
Label that indicates if the residual function depends on u.
const boost::shared_ptr< StateAbstract > & get_state() const
Return the state.
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 impulse CoM residual.
pinocchio::DataTpl< Scalar > * pinocchio
Pinocchio data.
std::size_t nu_
Control dimension.
ResidualModelImpulseCoMTpl(boost::shared_ptr< StateMultibody > state)
Initialize the impulse CoM residual model.
virtual void print(std::ostream &os) const
Print relevant information of the impulse-com residual.
pinocchio::DataTpl< Scalar > pinocchio_internal
Pinocchio data for internal computation.
virtual boost::shared_ptr< ResidualDataAbstract > createData(DataCollectorAbstract *const data)
Create the impulse CoM residual data.
boost::shared_ptr< crocoddyl::ImpulseDataMultipleTpl< Scalar > > impulses
Impulses data.
MatrixXs ddv_dv
Jacobian of the CoM velocity.
boost::shared_ptr< StateAbstract > state_
State description.
VectorXs unone_
No control vector.
Matrix3xs dvc_dq
Jacobian of the CoM velocity.