contact-control-gravity.hpp

// BSD 3-Clause License
//
// Copyright (C) 2020-2025, LAAS-CNRS, University of Edinburgh,
// Heriot-Watt University
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.

#ifndef CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_CONTROL_GRAVITY_HPP_
#define CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_CONTROL_GRAVITY_HPP_

#include "crocoddyl/core/residual-base.hpp"
#include "crocoddyl/multibody/data/contacts.hpp"
#include "crocoddyl/multibody/states/multibody.hpp"

namespace crocoddyl {

template <typename _Scalar>
class ResidualModelContactControlGravTpl
 : public ResidualModelAbstractTpl<_Scalar> {
 public:
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 CROCODDYL_DERIVED_CAST(ResidualModelBase, ResidualModelContactControlGravTpl)

 typedef _Scalar Scalar;
 typedef MathBaseTpl<Scalar> MathBase;
 typedef ResidualModelAbstractTpl<Scalar> Base;
 typedef ResidualDataContactControlGravTpl<Scalar> Data;
 typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
 typedef StateMultibodyTpl<Scalar> StateMultibody;
 typedef ActuationModelAbstractTpl<Scalar> ActuationModelAbstract;
 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
 typedef typename MathBase::VectorXs VectorXs;
 typedef typename MathBase::MatrixXs MatrixXs;

 ResidualModelContactControlGravTpl(std::shared_ptr<StateMultibody> state,
 const std::size_t nu);

 explicit ResidualModelContactControlGravTpl(
 std::shared_ptr<StateMultibody> state);
 virtual ~ResidualModelContactControlGravTpl() = default;

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

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

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

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

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

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

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

 protected:
 using Base::nu_;
 using Base::state_;
 using Base::v_dependent_;

 private:
 typename StateMultibody::PinocchioModel pin_model_;
};

template <typename _Scalar>
struct ResidualDataContactControlGravTpl
 : public ResidualDataAbstractTpl<_Scalar> {
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW

 typedef _Scalar Scalar;
 typedef MathBaseTpl<Scalar> MathBase;
 typedef ResidualDataAbstractTpl<Scalar> Base;
 typedef StateMultibodyTpl<Scalar> StateMultibody;
 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
 typedef pinocchio::DataTpl<Scalar> PinocchioData;

 template <template <typename Scalar> class Model>
 ResidualDataContactControlGravTpl(Model<Scalar>* const model,
 DataCollectorAbstract* const data)
 : Base(model, data) {
 StateMultibody* sm = static_cast<StateMultibody*>(model->get_state().get());
 pinocchio = PinocchioData(*(sm->get_pinocchio().get()));

 // Check that proper shared data has been passed
 DataCollectorActMultibodyInContactTpl<Scalar>* d =
 dynamic_cast<DataCollectorActMultibodyInContactTpl<Scalar>*>(shared);
 if (d == NULL) {
 throw_pretty(
 "Invalid argument: the shared data should be derived from "
 "DataCollectorActMultibodyInContactTpl");
 }
 // Avoids data casting at runtime
 // pinocchio = d->pinocchio;
 fext = d->contacts->fext;
 actuation = d->actuation;
 }
 virtual ~ResidualDataContactControlGravTpl() = default;

 PinocchioData pinocchio;
 std::shared_ptr<ActuationDataAbstractTpl<Scalar> >
 actuation;
 pinocchio::container::aligned_vector<pinocchio::ForceTpl<Scalar> >
 fext;
 using Base::r;
 using Base::Ru;
 using Base::Rx;
 using Base::shared;
};

} // namespace crocoddyl

/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/multibody/residuals/contact-control-gravity.hxx"

CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(
 crocoddyl::ResidualModelContactControlGravTpl)
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(
 crocoddyl::ResidualDataContactControlGravTpl)

#endif // CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_CONTROL_GRAVITY_HPP_