task-second-order.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_CORE_RESIDUALS_TASK_SECOND_ORDER_HPP_
#define CROCODDYL_CORE_RESIDUALS_TASK_SECOND_ORDER_HPP_

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

namespace crocoddyl {

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

 typedef _Scalar Scalar;
 typedef MathBaseTpl<Scalar> MathBase;
 typedef ResidualModelAbstractTpl<Scalar> Base;
 typedef ResidualDataTaskSecondOrderTpl<Scalar> Data;
 typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
 typedef GuidanceModelAbstractTpl<Scalar> GuidanceModelAbstract;
 typedef TaskModelAbstractTpl<Scalar> TaskModelAbstract;
 typedef typename MathBase::VectorXs VectorXs;
 typedef typename MathBase::MatrixXs MatrixXs;

 ResidualModelTaskSecondOrderTpl(
 std::shared_ptr<TaskModelAbstract> task,
 std::shared_ptr<GuidanceModelAbstract> guidance, const MatrixXs& gain);
 ResidualModelTaskSecondOrderTpl(
 std::shared_ptr<TaskModelAbstract> task,
 std::shared_ptr<GuidanceModelAbstract> guidance,
 const VectorXs& diagonal_gain);
 ResidualModelTaskSecondOrderTpl(
 std::shared_ptr<TaskModelAbstract> task,
 std::shared_ptr<GuidanceModelAbstract> guidance, const Scalar& gain);
 virtual ~ResidualModelTaskSecondOrderTpl() = 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>
 ResidualModelTaskSecondOrderTpl<NewScalar> cast() const;

 const std::shared_ptr<TaskModelAbstract>& get_task() const;
 const std::shared_ptr<GuidanceModelAbstract>& get_guidance() const;
 const MatrixXs& get_gain() const;

 void set_guidance(std::shared_ptr<GuidanceModelAbstract> guidance);
 void set_gain(const MatrixXs& gain);

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

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

 void checkDimensions() const;

 std::shared_ptr<TaskModelAbstract> task_;
 std::shared_ptr<GuidanceModelAbstract> guidance_;
 MatrixXs gain_;
};

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

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

 template <template <typename Scalar> class Model>
 ResidualDataTaskSecondOrderTpl(Model<Scalar>* const model,
 DataCollectorAbstract* const data)
 : Base(model, data),
 task(model->get_task()->createData(data)),
 guidance(model->get_guidance()->createData()),
 v_error(model->get_nr()),
 v_error_x(model->get_nr(), model->get_state()->get_ndx()),
 v_error_u(model->get_nr(), model->get_nu()) {
 task->compute_acceleration = true;
 v_error.setZero();
 v_error_x.setZero();
 v_error_u.setZero();
 }

 virtual ~ResidualDataTaskSecondOrderTpl() = default;

 std::shared_ptr<TaskDataAbstract> task;
 std::shared_ptr<GuidanceDataAbstract> guidance;
 VectorXs v_error;
 MatrixXs v_error_x;
 MatrixXs v_error_u;

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

} // namespace crocoddyl

/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/core/residuals/task-second-order.hxx"

#endif // CROCODDYL_CORE_RESIDUALS_TASK_SECOND_ORDER_HPP_