com-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_COM_POSITION_HPP_
#define CROCODDYL_MULTIBODY_TASKS_COM_POSITION_HPP_

#include <pinocchio/algorithm/center-of-mass-derivatives.hpp>
#include <pinocchio/algorithm/center-of-mass.hpp>

#include "crocoddyl/core/task-base.hpp"
#include "crocoddyl/core/utils/conversions.hpp"
#include "crocoddyl/multibody/data/multibody.hpp"
#include "crocoddyl/multibody/fwd.hpp"
#include "crocoddyl/multibody/states/multibody.hpp"

namespace crocoddyl {

template <typename _Scalar>
class TaskModelCoMPositionTpl : public TaskModelAbstractTpl<_Scalar> {
 public:
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 CROCODDYL_DERIVED_CAST(TaskModelBase, TaskModelCoMPositionTpl)

 typedef _Scalar Scalar;
 typedef MathBaseTpl<Scalar> MathBase;
 typedef TaskModelAbstractTpl<Scalar> Base;
 typedef TaskDataAbstractTpl<Scalar> TaskDataAbstract;
 typedef TaskDataCoMPositionTpl<Scalar> Data;
 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
 typedef StateMultibodyTpl<Scalar> StateMultibody;
 typedef typename MathBase::Matrix3xs Matrix3xs;
 typedef typename MathBase::Vector3s Vector3s;
 typedef typename MathBase::VectorXs VectorXs;

 TaskModelCoMPositionTpl(std::shared_ptr<StateMultibody> state,
 const Vector3s& cref, const std::size_t nu);

 TaskModelCoMPositionTpl(std::shared_ptr<StateMultibody> state,
 const Vector3s& cref);

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

 const Vector3s& get_reference() const;
 void set_reference(const Vector3s& cref);

 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_;

 private:
 Vector3s cref_;
 std::shared_ptr<typename StateMultibody::PinocchioModel> pin_model_;
};

template <typename _Scalar>
struct TaskDataCoMPositionTpl : 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::Matrix3xs Matrix3xs;
 typedef typename MathBase::Vector3s Vector3s;

 template <template <typename Scalar> class Model>
 TaskDataCoMPositionTpl(Model<Scalar>* const model,
 DataCollectorAbstract* const data)
 : Base(model, data),
 com(Vector3s::Zero()),
 vcom(Vector3s::Zero()),
 acom(Vector3s::Zero()),
 dvc_dq(3, model->get_state()->get_nv()),
 dacom_dq(3, model->get_state()->get_nv()),
 dacom_dv(3, model->get_state()->get_nv()) {
 dvc_dq.setZero();
 dacom_dq.setZero();
 dacom_dv.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 ~TaskDataCoMPositionTpl() = default;

 pinocchio::DataTpl<Scalar>* pinocchio;
 std::shared_ptr<JointDataAbstractTpl<Scalar>>
 joint;
 Vector3s com;
 Vector3s vcom;
 Vector3s acom;
 Matrix3xs dvc_dq;
 Matrix3xs dacom_dq;
 Matrix3xs dacom_dv;

 using Base::shared;
};

} // namespace crocoddyl

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

CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::TaskModelCoMPositionTpl)
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::TaskDataCoMPositionTpl)

#endif // CROCODDYL_MULTIBODY_TASKS_COM_POSITION_HPP_