joint-effort.hpp

// BSD 3-Clause License
//
// Copyright (C) 2022-2025, Heriot-Watt University, University of Edinburgh
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.

#ifndef CROCODDYL_CORE_RESIDUALS_JOINT_TORQUE_HPP_
#define CROCODDYL_CORE_RESIDUALS_JOINT_TORQUE_HPP_

#include "crocoddyl/core/actuation-base.hpp"
#include "crocoddyl/core/data/joint.hpp"
#include "crocoddyl/core/fwd.hpp"
#include "crocoddyl/core/residual-base.hpp"

namespace crocoddyl {

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

 typedef _Scalar Scalar;
 typedef MathBaseTpl<Scalar> MathBase;
 typedef ResidualModelAbstractTpl<Scalar> Base;
 typedef ResidualDataJointEffortTpl<Scalar> Data;
 typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
 typedef StateAbstractTpl<Scalar> StateAbstract;
 typedef ActuationModelAbstractTpl<Scalar> ActuationModelAbstract;
 typedef typename MathBase::VectorXs VectorXs;
 typedef typename MathBase::MatrixXs MatrixXs;

 ResidualModelJointEffortTpl(std::shared_ptr<StateAbstract> state,
 std::shared_ptr<ActuationModelAbstract> actuation,
 const VectorXs& uref, const std::size_t nu,
 const bool fwddyn = false);

 ResidualModelJointEffortTpl(std::shared_ptr<StateAbstract> state,
 std::shared_ptr<ActuationModelAbstract> actuation,
 const VectorXs& uref);

 ResidualModelJointEffortTpl(std::shared_ptr<StateAbstract> state,
 std::shared_ptr<ActuationModelAbstract> actuation,
 const std::size_t nu);

 ResidualModelJointEffortTpl(
 std::shared_ptr<StateAbstract> state,
 std::shared_ptr<ActuationModelAbstract> actuation);

 virtual ~ResidualModelJointEffortTpl() = 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>
 ResidualModelJointEffortTpl<NewScalar> cast() const;

 const VectorXs& get_reference() const;

 void set_reference(const VectorXs& reference);

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

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

 private:
 std::shared_ptr<ActuationModelAbstract> actuation_;
 VectorXs uref_;
 bool fwddyn_;
};

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

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

 template <template <typename Scalar> class Model>
 ResidualDataJointEffortTpl(Model<Scalar>* const model,
 DataCollectorAbstract* const data)
 : Base(model, data) {
 // Check that proper shared data has been passed
 DataCollectorJointTpl<Scalar>* d =
 dynamic_cast<DataCollectorJointTpl<Scalar>*>(shared);
 if (d == nullptr) {
 throw_pretty(
 "Invalid argument: the shared data should be derived from "
 "DataCollectorJoint");
 }
 joint = d->joint;
 }
 virtual ~ResidualDataJointEffortTpl() = default;

 std::shared_ptr<JointDataAbstractTpl<Scalar> > joint;
 using Base::r;
 using Base::Ru;
 using Base::Rx;
 using Base::shared;
};

} // namespace crocoddyl

/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/core/residuals/joint-effort.hxx"

CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::ResidualModelJointEffortTpl)
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::ResidualDataJointEffortTpl)

#endif // CROCODDYL_CORE_RESIDUALS_JOINT_TORQUE_HPP_