residual.hpp

// BSD 3-Clause License
//
// Copyright (C) 2021-2025, Heriot-Watt University, University of Edinburgh
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.

#ifndef CROCODDYL_CORE_CONSTRAINTS_RESIDUAL_CONSTRAINT_HPP_
#define CROCODDYL_CORE_CONSTRAINTS_RESIDUAL_CONSTRAINT_HPP_

#include "crocoddyl/core/fwd.hpp"
//
#include "crocoddyl/core/constraint-base.hpp"
#include "crocoddyl/core/residual-base.hpp"

namespace crocoddyl {

template <typename _Scalar>
class ConstraintModelResidualTpl : public ConstraintModelAbstractTpl<_Scalar> {
 public:
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 CROCODDYL_DERIVED_CAST(ConstraintModelBase, ConstraintModelResidualTpl)

 typedef _Scalar Scalar;
 typedef MathBaseTpl<Scalar> MathBase;
 typedef ConstraintModelAbstractTpl<Scalar> Base;
 typedef ConstraintDataResidualTpl<Scalar> Data;
 typedef ConstraintDataAbstractTpl<Scalar> ConstraintDataAbstract;
 typedef ResidualModelAbstractTpl<Scalar> ResidualModelAbstract;
 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
 typedef typename MathBase::VectorXs VectorXs;

 ConstraintModelResidualTpl(
 std::shared_ptr<typename Base::StateAbstract> state,
 std::shared_ptr<ResidualModelAbstract> residual, const VectorXs& lower,
 const VectorXs& upper, const bool T_act = true);

 ConstraintModelResidualTpl(
 std::shared_ptr<typename Base::StateAbstract> state,
 std::shared_ptr<ResidualModelAbstract> residual, const bool T_act = true);
 virtual ~ConstraintModelResidualTpl() = default;

 virtual void calc(const std::shared_ptr<ConstraintDataAbstract>& data,
 const Eigen::Ref<const VectorXs>& x,
 const Eigen::Ref<const VectorXs>& u) override;

 virtual void calc(const std::shared_ptr<ConstraintDataAbstract>& data,
 const Eigen::Ref<const VectorXs>& x) override;

 virtual void calcDiff(const std::shared_ptr<ConstraintDataAbstract>& data,
 const Eigen::Ref<const VectorXs>& x,
 const Eigen::Ref<const VectorXs>& u) override;

 virtual void calcDiff(const std::shared_ptr<ConstraintDataAbstract>& data,
 const Eigen::Ref<const VectorXs>& x) override;

 virtual std::shared_ptr<ConstraintDataAbstract> createData(
 DataCollectorAbstract* const data) override;

 template <typename NewScalar>
 ConstraintModelResidualTpl<NewScalar> cast() const;

 virtual void print(std::ostream& os) const override;

 private:
 void updateCalc(const std::shared_ptr<ConstraintDataAbstract>& data);
 void updateCalcDiff(const std::shared_ptr<ConstraintDataAbstract>& data);

 protected:
 using Base::lb_;
 using Base::ng_;
 using Base::nh_;
 using Base::nu_;
 using Base::residual_;
 using Base::state_;
 using Base::T_constraint_;
 using Base::type_;
 using Base::ub_;
 using Base::unone_;
};

template <typename _Scalar>
struct ConstraintDataResidualTpl : public ConstraintDataAbstractTpl<_Scalar> {
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW

 typedef _Scalar Scalar;
 typedef MathBaseTpl<Scalar> MathBase;
 typedef ConstraintDataAbstractTpl<Scalar> Base;
 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;

 template <template <typename Scalar> class Model>
 ConstraintDataResidualTpl(Model<Scalar>* const model,
 DataCollectorAbstract* const data)
 : Base(model, data) {}
 virtual ~ConstraintDataResidualTpl() = default;

 using Base::g;
 using Base::Gu;
 using Base::Gx;
 using Base::h;
 using Base::Hu;
 using Base::Hx;
 using Base::residual;
 using Base::shared;
};

} // namespace crocoddyl

/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/core/constraints/residual.hxx"

CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::ConstraintModelResidualTpl)
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::ConstraintDataResidualTpl)

#endif // CROCODDYL_CORE_CONSTRAINTS_RESIDUAL_CONSTRAINT_HPP_