frame-placement.hpp

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

#ifndef CROCODDYL_MULTIBODY_RESIDUALS_FRAME_PLACEMENT_HPP_
#define CROCODDYL_MULTIBODY_RESIDUALS_FRAME_PLACEMENT_HPP_

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

namespace crocoddyl {

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

 typedef _Scalar Scalar;
 typedef MathBaseTpl<Scalar> MathBase;
 typedef ResidualModelAbstractTpl<Scalar> Base;
 typedef ResidualDataFramePlacementTpl<Scalar> Data;
 typedef StateMultibodyTpl<Scalar> StateMultibody;
 typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
 typedef typename MathBase::VectorXs VectorXs;
 typedef pinocchio::SE3Tpl<Scalar> SE3;

 ResidualModelFramePlacementTpl(std::shared_ptr<StateMultibody> state,
 const pinocchio::FrameIndex id,
 const SE3& pref, const std::size_t nu);

 ResidualModelFramePlacementTpl(std::shared_ptr<StateMultibody> state,
 const pinocchio::FrameIndex id,
 const SE3& pref);
 virtual ~ResidualModelFramePlacementTpl() = 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 calcDiff(const std::shared_ptr<ResidualDataAbstract>& data,
 const Eigen::Ref<const VectorXs>& x,
 const Eigen::Ref<const VectorXs>& u) override;

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

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

 pinocchio::FrameIndex get_id() const;

 const SE3& get_reference() const;

 void set_id(const pinocchio::FrameIndex id);

 void set_reference(const SE3& reference);

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

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

 private:
 pinocchio::FrameIndex id_;
 SE3 pref_;
 pinocchio::SE3Tpl<Scalar> oMf_inv_;
 std::shared_ptr<typename StateMultibody::PinocchioModel>
 pin_model_;
};

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

 typedef _Scalar Scalar;
 typedef MathBaseTpl<Scalar> MathBase;
 typedef ResidualDataAbstractTpl<Scalar> Base;
 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
 typedef typename MathBase::Matrix6xs Matrix6xs;
 typedef typename MathBase::Matrix6s Matrix6s;
 typedef typename MathBase::Vector6s Vector6s;

 template <template <typename Scalar> class Model>
 ResidualDataFramePlacementTpl(Model<Scalar>* const model,
 DataCollectorAbstract* const data)
 : Base(model, data), rJf(6, 6), fJf(6, model->get_state()->get_nv()) {
 r.setZero();
 rJf.setZero();
 fJf.setZero();
 // Check that proper shared data has been passed
 DataCollectorMultibodyTpl<Scalar>* d =
 dynamic_cast<DataCollectorMultibodyTpl<Scalar>*>(shared);
 if (d == NULL) {
 throw_pretty(
 "Invalid argument: the shared data should be derived from "
 "DataCollectorMultibody");
 }

 // Avoids data casting at runtime
 pinocchio = d->pinocchio;
 }
 virtual ~ResidualDataFramePlacementTpl() = default;

 pinocchio::DataTpl<Scalar>* pinocchio;
 pinocchio::SE3Tpl<Scalar> rMf;
 Matrix6s rJf;
 Matrix6xs fJf;

 using Base::r;
 using Base::Ru;
 using Base::Rx;
 using Base::shared;
};

} // namespace crocoddyl

/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/multibody/residuals/frame-placement.hxx"

CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(
 crocoddyl::ResidualModelFramePlacementTpl)
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(
 crocoddyl::ResidualDataFramePlacementTpl)

#endif // CROCODDYL_MULTIBODY_RESIDUALS_FRAME_PLACEMENT_HPP_