frame-placement.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_FRAME_PLACEMENT_HPP_
#define CROCODDYL_MULTIBODY_TASKS_FRAME_PLACEMENT_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 TaskModelFramePlacementTpl : public TaskModelAbstractTpl<_Scalar> {
 public:
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 CROCODDYL_DERIVED_CAST(TaskModelBase, TaskModelFramePlacementTpl)

 typedef _Scalar Scalar;
 typedef MathBaseTpl<Scalar> MathBase;
 typedef TaskModelAbstractTpl<Scalar> Base;
 typedef TaskDataAbstractTpl<Scalar> TaskDataAbstract;
 typedef TaskDataFramePlacementTpl<Scalar> Data;
 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
 typedef StateMultibodyTpl<Scalar> StateMultibody;
 typedef typename MathBase::Matrix3s Matrix3s;
 typedef typename MathBase::Matrix6s Matrix6s;
 typedef typename MathBase::VectorXs VectorXs;
 typedef pinocchio::MotionTpl<Scalar> Motion;
 typedef pinocchio::SE3Tpl<Scalar> SE3;

 TaskModelFramePlacementTpl(std::shared_ptr<StateMultibody> state,
 const pinocchio::FrameIndex id, const SE3& pref,
 const std::size_t nu);

 TaskModelFramePlacementTpl(std::shared_ptr<StateMultibody> state,
 const pinocchio::FrameIndex id, const SE3& pref);

 TaskModelFramePlacementTpl(std::shared_ptr<StateMultibody> state,
 const pinocchio::FrameIndex id, const SE3& pref,
 const pinocchio::ReferenceFrame type,
 const std::size_t nu);

 TaskModelFramePlacementTpl(std::shared_ptr<StateMultibody> state,
 const pinocchio::FrameIndex id, const SE3& pref,
 const pinocchio::ReferenceFrame type);

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

 pinocchio::FrameIndex get_id() const;
 const SE3& get_reference() const;
 pinocchio::ReferenceFrame get_type() const;
 void set_id(const pinocchio::FrameIndex id);
 void set_reference(const SE3& reference);
 void set_type(const pinocchio::ReferenceFrame type);

 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:
 pinocchio::FrameIndex id_;
 SE3 pref_;
 SE3 oMf_inv_;
 pinocchio::ReferenceFrame type_;
 std::shared_ptr<typename StateMultibody::PinocchioModel> pin_model_;
};

template <typename _Scalar>
struct TaskDataFramePlacementTpl : 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::Matrix6s Matrix6s;
 typedef typename MathBase::Matrix6xs Matrix6xs;
 typedef pinocchio::MotionTpl<Scalar> Motion;
 typedef pinocchio::SE3Tpl<Scalar> SE3;

 template <template <typename Scalar> class Model>
 TaskDataFramePlacementTpl(Model<Scalar>* const model,
 DataCollectorAbstract* const data)
 : Base(model, data),
 rMf(SE3::Identity()),
 rJf(Matrix6s::Zero()),
 y_local(Motion::Zero()),
 vf(Motion::Zero()),
 af(Motion::Zero()),
 Yx_local(6, model->get_state()->get_nv()),
 fJf(6, model->get_state()->get_nv()),
 fVdq(6, model->get_state()->get_nv()),
 fVdv(6, model->get_state()->get_nv()),
 fAdq(6, model->get_state()->get_nv()),
 fAdv(6, model->get_state()->get_nv()) {
 Yx_local.setZero();
 fJf.setZero();
 fVdq.setZero();
 fVdv.setZero();
 fAdq.setZero();
 fAdv.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 ~TaskDataFramePlacementTpl() = default;

 pinocchio::DataTpl<Scalar>* pinocchio;
 std::shared_ptr<JointDataAbstractTpl<Scalar>>
 joint;
 SE3 rMf;
 Matrix6s rJf;
 Motion y_local;
 Motion vf;
 Motion af;
 Matrix6xs Yx_local;
 Matrix6xs fJf;
 Matrix6xs fVdq;
 Matrix6xs fVdv;
 Matrix6xs fAdq;
 Matrix6xs fAdv;

 using Base::shared;
};

} // namespace crocoddyl

/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/multibody/tasks/frame-placement.hxx"

CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::TaskModelFramePlacementTpl)
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::TaskDataFramePlacementTpl)

#endif // CROCODDYL_MULTIBODY_TASKS_FRAME_PLACEMENT_HPP_