centroidal-momentum.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_CENTROIDAL_MOMENTUM_HPP_
#define CROCODDYL_MULTIBODY_TASKS_CENTROIDAL_MOMENTUM_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 TaskModelCentroidalMomentumTpl : public TaskModelAbstractTpl<_Scalar> {
 public:
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 CROCODDYL_DERIVED_CAST(TaskModelBase, TaskModelCentroidalMomentumTpl)

 typedef _Scalar Scalar;
 typedef MathBaseTpl<Scalar> MathBase;
 typedef TaskModelAbstractTpl<Scalar> Base;
 typedef TaskDataCentroidalMomentumTpl<Scalar> Data;
 typedef TaskDataAbstractTpl<Scalar> TaskDataAbstract;
 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
 typedef StateMultibodyTpl<Scalar> StateMultibody;
 typedef typename MathBase::Vector6s Vector6s;
 typedef typename MathBase::VectorXs VectorXs;

 TaskModelCentroidalMomentumTpl(std::shared_ptr<StateMultibody> state,
 const Vector6s& href, const Vector6s& hdot_ref,
 const std::size_t nu);

 TaskModelCentroidalMomentumTpl(std::shared_ptr<StateMultibody> state,
 const Vector6s& href,
 const Vector6s& hdot_ref);

 TaskModelCentroidalMomentumTpl(std::shared_ptr<StateMultibody> state,
 const Vector6s& href, const std::size_t nu);

 TaskModelCentroidalMomentumTpl(std::shared_ptr<StateMultibody> state,
 const Vector6s& href);
 virtual ~TaskModelCentroidalMomentumTpl() = 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>
 TaskModelCentroidalMomentumTpl<NewScalar> cast() const;

 const Vector6s& get_reference() const;
 const Vector6s& get_rate_reference() const;
 void set_reference(const Vector6s& href);
 void set_rate_reference(const Vector6s& hdot_ref);

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

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

 private:
 Vector6s href_;
 Vector6s hdot_ref_;
 std::shared_ptr<typename StateMultibody::PinocchioModel> pin_model_;
};

template <typename _Scalar>
struct TaskDataCentroidalMomentumTpl : 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::Vector6s Vector6s;
 typedef typename MathBase::Matrix6xs Matrix6xs;

 template <template <typename Scalar> class Model>
 TaskDataCentroidalMomentumTpl(Model<Scalar>* const model,
 DataCollectorAbstract* const data)
 : Base(model, data),
 hdot(Vector6s::Zero()),
 dh_dq(6, model->get_state()->get_nv()),
 dhdot_dq(6, model->get_state()->get_nv()),
 dhdot_dv(6, model->get_state()->get_nv()),
 dhdot_da(6, model->get_state()->get_nv()) {
 dh_dq.setZero();
 dhdot_dq.setZero();
 dhdot_dv.setZero();
 dhdot_da.setZero();

 DataCollectorMultibodyTpl<Scalar>* d =
 dynamic_cast<DataCollectorMultibodyTpl<Scalar>*>(shared);
 if (d == nullptr) {
 throw_pretty(
 "Invalid argument: the shared data should be derived from "
 "DataCollectorMultibody");
 }
 pinocchio = d->pinocchio;
 DataCollectorJointTpl<Scalar>* j =
 dynamic_cast<DataCollectorJointTpl<Scalar>*>(shared);
 if (j != nullptr) {
 joint = j->joint;
 }
 }

 virtual ~TaskDataCentroidalMomentumTpl() = default;

 pinocchio::DataTpl<Scalar>* pinocchio;
 std::shared_ptr<JointDataAbstractTpl<Scalar>>
 joint;
 Vector6s hdot;
 Matrix6xs dh_dq;
 Matrix6xs dhdot_dq;
 Matrix6xs dhdot_dv;
 Matrix6xs dhdot_da;

 using Base::shared;
};

} // namespace crocoddyl

/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/multibody/tasks/centroidal-momentum.hxx"

CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(
 crocoddyl::TaskModelCentroidalMomentumTpl)
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(
 crocoddyl::TaskDataCentroidalMomentumTpl)

#endif // CROCODDYL_MULTIBODY_TASKS_CENTROIDAL_MOMENTUM_HPP_