residual.hpp

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

#ifndef CROCODDYL_CORE_COSTS_RESIDUAL_COST_HPP_
#define CROCODDYL_CORE_COSTS_RESIDUAL_COST_HPP_

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

namespace crocoddyl {

template <typename _Scalar>
class CostModelResidualTpl : public CostModelAbstractTpl<_Scalar> {
 public:
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 CROCODDYL_DERIVED_CAST(CostModelBase, CostModelResidualTpl)

 typedef _Scalar Scalar;
 typedef MathBaseTpl<Scalar> MathBase;
 typedef CostModelAbstractTpl<Scalar> Base;
 typedef CostDataResidualTpl<Scalar> Data;
 typedef CostDataAbstractTpl<Scalar> CostDataAbstract;
 typedef ResidualModelAbstractTpl<Scalar> ResidualModelAbstract;
 typedef ActivationModelAbstractTpl<Scalar> ActivationModelAbstract;
 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
 typedef typename MathBase::VectorXs VectorXs;
 typedef typename MathBase::MatrixXs MatrixXs;

 CostModelResidualTpl(std::shared_ptr<typename Base::StateAbstract> state,
 std::shared_ptr<ActivationModelAbstract> activation,
 std::shared_ptr<ResidualModelAbstract> residual);
 CostModelResidualTpl(std::shared_ptr<typename Base::StateAbstract> state,
 std::shared_ptr<ResidualModelAbstract> residual);
 virtual ~CostModelResidualTpl() = default;

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

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

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

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

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

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

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

 protected:
 using Base::activation_;
 using Base::nu_;
 using Base::residual_;
 using Base::state_;
 using Base::unone_;
};

template <typename _Scalar>
struct CostDataResidualTpl : public CostDataAbstractTpl<_Scalar> {
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW

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

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

 using Base::activation;
 using Base::cost;
 using Base::Lu;
 using Base::Luu;
 using Base::Lx;
 using Base::Lxu;
 using Base::Lxx;
 using Base::residual;
 using Base::shared;
};

} // namespace crocoddyl

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

CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::CostModelResidualTpl)
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::CostDataResidualTpl)

#endif // CROCODDYL_CORE_COSTS_RESIDUAL_COST_HPP_