center-of-mass-translation.hpp

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#pragma once
 
#include "aligator/core/unary-function.hpp"
#include "./fwd.hpp"
 
#include <pinocchio/multibody/model.hpp>
 
namespace aligator {
 
template <typename Scalar> struct CenterOfMassTranslationDataTpl;

 
template <typename _Scalar>
struct CenterOfMassTranslationResidualTpl : UnaryFunctionTpl<_Scalar>,
                                            frame_api {
public:
  using Scalar = _Scalar;
  ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);
  ALIGATOR_UNARY_FUNCTION_INTERFACE(Scalar);
  using BaseData = typename Base::Data;
  using Model = pinocchio::ModelTpl<Scalar>;
  using SE3 = pinocchio::SE3Tpl<Scalar>;
  using Data = CenterOfMassTranslationDataTpl<Scalar>;
 
  Model pin_model_;
 
  CenterOfMassTranslationResidualTpl(const int ndx, const int nu,
                                     const Model &model,
                                     const Vector3s &frame_trans)
      : Base(ndx, nu, 3)
      , pin_model_(model)
      , p_ref_(frame_trans) {}
 
  const Vector3s &getReference() const { return p_ref_; }
  void setReference(const Eigen::Ref<const Vector3s> &p_new) { p_ref_ = p_new; }
 
  void evaluate(const ConstVectorRef &x, BaseData &data) const;
 
  void computeJacobians(const ConstVectorRef &x, BaseData &data) const;
 
  shared_ptr<BaseData> createData() const {
    return std::make_shared<Data>(this);
  }
 
protected:
  Vector3s p_ref_;
};
 
template <typename Scalar>
struct CenterOfMassTranslationDataTpl : StageFunctionDataTpl<Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  using Base = StageFunctionDataTpl<Scalar>;
  using PinData = pinocchio::DataTpl<Scalar>;

  PinData pin_data_;
 
  CenterOfMassTranslationDataTpl(
      const CenterOfMassTranslationResidualTpl<Scalar> *model);
};
 
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
extern template struct CenterOfMassTranslationResidualTpl<context::Scalar>;
extern template struct CenterOfMassTranslationDataTpl<context::Scalar>;
#endif
} // namespace aligator