joint-position.hpp

// BSD 3-Clause License
//
// Copyright (C) 2026, Heriot-Watt University
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.

#ifndef CROCODDYL_MULTIBODY_TASKS_JOINT_POSITION_HPP_
#define CROCODDYL_MULTIBODY_TASKS_JOINT_POSITION_HPP_

#include "crocoddyl/core/data/joint.hpp"
#include "crocoddyl/core/task-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 TaskModelJointPositionTpl : public TaskModelAbstractTpl<_Scalar> {
 public:
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 CROCODDYL_DERIVED_CAST(TaskModelBase, TaskModelJointPositionTpl)

 typedef _Scalar Scalar;
 typedef MathBaseTpl<Scalar> MathBase;
 typedef TaskModelAbstractTpl<Scalar> Base;
 typedef TaskDataJointPositionTpl<Scalar> Data;
 typedef TaskDataAbstractTpl<Scalar> TaskDataAbstract;
 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
 typedef StateMultibodyTpl<Scalar> StateMultibody;
 typedef typename MathBase::VectorXs VectorXs;

 TaskModelJointPositionTpl(std::shared_ptr<StateMultibody> state,
 const VectorXs& xref, const VectorXs& aref,
 const std::size_t nu);

 TaskModelJointPositionTpl(std::shared_ptr<StateMultibody> state,
 const VectorXs& xref, const VectorXs& aref);

 TaskModelJointPositionTpl(std::shared_ptr<StateMultibody> state,
 const VectorXs& xref, const std::size_t nu);

 TaskModelJointPositionTpl(std::shared_ptr<StateMultibody> state,
 const VectorXs& xref);
 virtual ~TaskModelJointPositionTpl() = default;

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

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

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

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

 const VectorXs& get_reference() const;
 const VectorXs& get_acceleration_reference() const;
 void set_reference(const VectorXs& xref);
 void set_acceleration_reference(const VectorXs& aref);

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

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

 private:
 VectorXs xref_;
 VectorXs aref_;
};

template <typename _Scalar>
struct TaskDataJointPositionTpl : public TaskDataAbstractTpl<_Scalar> {
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW

 typedef _Scalar Scalar;
 typedef MathBaseTpl<Scalar> MathBase;
 typedef TaskDataAbstractTpl<Scalar> Base;
 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
 typedef typename MathBase::VectorXs VectorXs;
 typedef typename MathBase::MatrixXs MatrixXs;

 template <template <typename Scalar> class Model>
 TaskDataJointPositionTpl(Model<Scalar>* const model,
 DataCollectorAbstract* const data)
 : Base(model, data),
 pinocchio(nullptr),
 dx(model->get_state()->get_ndx()),
 Jdiff(model->get_state()->get_ndx(), model->get_state()->get_ndx()) {
 dx.setZero();
 Jdiff.setZero();

 DataCollectorJointTpl<Scalar>* j =
 dynamic_cast<DataCollectorJointTpl<Scalar>*>(shared);
 if (j != nullptr) {
 joint = j->joint;
 }
 DataCollectorMultibodyTpl<Scalar>* d =
 dynamic_cast<DataCollectorMultibodyTpl<Scalar>*>(shared);
 if (d != nullptr) {
 pinocchio = d->pinocchio;
 }
 }

 virtual ~TaskDataJointPositionTpl() = default;

 pinocchio::DataTpl<Scalar>*
 pinocchio;
 std::shared_ptr<JointDataAbstractTpl<Scalar>>
 joint;
 VectorXs dx;
 MatrixXs Jdiff;

 using Base::shared;
};

} // namespace crocoddyl

/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/multibody/tasks/joint-position.hxx"

CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::TaskModelJointPositionTpl)
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::TaskDataJointPositionTpl)

#endif // CROCODDYL_MULTIBODY_TASKS_JOINT_POSITION_HPP_