9 #ifndef CROCODDYL_MULTIBODY_RESIDUALS_FRAME_VELOCITY_HPP_
10 #define CROCODDYL_MULTIBODY_RESIDUALS_FRAME_VELOCITY_HPP_
12 #include <pinocchio/multibody/fwd.hpp>
13 #include <pinocchio/spatial/motion.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"
37 template <
typename _Scalar>
40 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
42 typedef _Scalar Scalar;
49 typedef pinocchio::MotionTpl<Scalar> Motion;
50 typedef typename MathBase::VectorXs VectorXs;
62 const Motion& velocity,
const pinocchio::ReferenceFrame type,
const std::size_t nu);
75 const Motion& velocity,
const pinocchio::ReferenceFrame type);
85 virtual void calc(
const boost::shared_ptr<ResidualDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
86 const Eigen::Ref<const VectorXs>& u);
95 virtual void calcDiff(
const boost::shared_ptr<ResidualDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
96 const Eigen::Ref<const VectorXs>& u);
121 void set_id(
const pinocchio::FrameIndex
id);
131 void set_type(
const pinocchio::ReferenceFrame type);
138 virtual void print(std::ostream& os)
const;
148 pinocchio::FrameIndex id_;
150 pinocchio::ReferenceFrame type_;
151 boost::shared_ptr<typename StateMultibody::PinocchioModel> pin_model_;
154 template <
typename _Scalar>
156 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
158 typedef _Scalar Scalar;
162 typedef typename MathBase::Matrix6xs Matrix6xs;
164 template <
template <
typename Scalar>
class Model>
169 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorMultibody");
188 #include "crocoddyl/multibody/residuals/frame-velocity.hxx"
Abstract class for residual models.
bool u_dependent_
Label that indicates if the residual function depends on u.
boost::shared_ptr< StateAbstract > state_
State description.
std::size_t nu_
Control dimension.
VectorXs unone_
No control vector.
std::size_t nr_
Residual vector dimension.
const Motion & get_reference() const
Modify the reference velocity.
virtual void print(std::ostream &os) const
Print relevant information of the frame-velocity residual.
void set_reference(const Motion &velocity)
Return reference velocity.
ResidualModelFrameVelocityTpl(boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Motion &velocity, const pinocchio::ReferenceFrame type)
Initialize the frame velocity residual model.
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.
void set_id(const pinocchio::FrameIndex id)
Return reference frame id.
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.
pinocchio::FrameIndex get_id() const
Modify the reference frame id.
void set_type(const pinocchio::ReferenceFrame type)
Return reference type of velocity.
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.
pinocchio::ReferenceFrame get_type() const
Modify the reference type of velocity.
virtual boost::shared_ptr< ResidualDataAbstract > createData(DataCollectorAbstract *const data)
Create the frame velocity residual data.
State multibody representation.
MatrixXs Ru
Jacobian of the residual vector with respect the control.
MatrixXs Rx
Jacobian of the residual vector with respect the state.
DataCollectorAbstract * shared
Shared data allocated by the action model.
VectorXs r
Residual vector.
DataCollectorAbstract * shared
Shared data allocated by the action model.
pinocchio::DataTpl< Scalar > * pinocchio
Pinocchio data.