frame-velocity.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_VELOCITY_HPP_
#define CROCODDYL_MULTIBODY_RESIDUALS_FRAME_VELOCITY_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 ResidualModelFrameVelocityTpl : public ResidualModelAbstractTpl<_Scalar> {
 public:
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 CROCODDYL_DERIVED_CAST(ResidualModelBase, ResidualModelFrameVelocityTpl)

 typedef _Scalar Scalar;
 typedef MathBaseTpl<Scalar> MathBase;
 typedef ResidualModelAbstractTpl<Scalar> Base;
 typedef ResidualDataFrameVelocityTpl<Scalar> Data;
 typedef StateMultibodyTpl<Scalar> StateMultibody;
 typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
 typedef pinocchio::MotionTpl<Scalar> Motion;
 typedef typename MathBase::VectorXs VectorXs;

 ResidualModelFrameVelocityTpl(std::shared_ptr<StateMultibody> state,
 const pinocchio::FrameIndex id,
 const Motion& vref,
 const pinocchio::ReferenceFrame type,
 const std::size_t nu);

 ResidualModelFrameVelocityTpl(std::shared_ptr<StateMultibody> state,
 const pinocchio::FrameIndex id,
 const Motion& vref,
 const pinocchio::ReferenceFrame type);
 virtual ~ResidualModelFrameVelocityTpl() = 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>
 ResidualModelFrameVelocityTpl<NewScalar> cast() const;

 pinocchio::FrameIndex get_id() const;

 const Motion& get_reference() const;

 pinocchio::ReferenceFrame get_type() const;

 void set_id(const pinocchio::FrameIndex id);

 void set_reference(const Motion& velocity);

 void set_type(const pinocchio::ReferenceFrame type);

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

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

 private:
 pinocchio::FrameIndex id_;
 Motion vref_;
 pinocchio::ReferenceFrame type_;
 std::shared_ptr<typename StateMultibody::PinocchioModel>
 pin_model_;
};

template <typename _Scalar>
struct ResidualDataFrameVelocityTpl : 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;

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

 pinocchio::DataTpl<Scalar>* pinocchio;
 using Base::r;
 using Base::Ru;
 using Base::Rx;
 using Base::shared;
};

} // namespace crocoddyl

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

CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(
 crocoddyl::ResidualModelFrameVelocityTpl)
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(
 crocoddyl::ResidualDataFrameVelocityTpl)

#endif // CROCODDYL_MULTIBODY_RESIDUALS_FRAME_VELOCITY_HPP_