centroidal-acceleration.hpp

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#pragma once
 
#include "aligator/core/function-abstract.hpp"
#include "aligator/modelling/contact-map.hpp"
 
namespace aligator {
 
template <typename Scalar> struct CentroidalAccelerationDataTpl;
 
template <typename _Scalar>
struct CentroidalAccelerationResidualTpl : StageFunctionTpl<_Scalar> {
 
public:
  using Scalar = _Scalar;
  ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);
  using Base = StageFunctionTpl<Scalar>;
  using BaseData = typename Base::Data;
  using Data = CentroidalAccelerationDataTpl<Scalar>;
  using ContactMap = ContactMapTpl<Scalar>;
 
  CentroidalAccelerationResidualTpl(const int ndx, const int nu,
                                    const double mass, const Vector3s &gravity,
                                    const ContactMap &contact_map,
                                    const int force_size)
      : Base(ndx, nu, 3), contact_map_(contact_map),
        nk_(size_t(nu) / size_t(force_size)), mass_(mass), gravity_(gravity),
        force_size_(force_size) {
    if (contact_map.size_ != nk_) {
      ALIGATOR_DOMAIN_ERROR(
          fmt::format("Contact ids and nk should be the same: now "
                      "({} and {}).",
                      contact_map.size_, nk_));
    }
  }
 
  void evaluate(const ConstVectorRef &, const ConstVectorRef &u,
                BaseData &data) const;
 
  void computeJacobians(const ConstVectorRef &, const ConstVectorRef &,
                        BaseData &data) const;
 
  shared_ptr<BaseData> createData() const {
    return std::make_shared<Data>(this);
  }
 
  ContactMap contact_map_;
 
protected:
  size_t nk_;
  double mass_;
  Vector3s gravity_;
  int force_size_;
};
 
template <typename Scalar>
struct CentroidalAccelerationDataTpl : StageFunctionDataTpl<Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  using Base = StageFunctionDataTpl<Scalar>;
 
  CentroidalAccelerationDataTpl(
      const CentroidalAccelerationResidualTpl<Scalar> *model);
};
 
} // namespace aligator
 
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
#include "aligator/modelling/centroidal/centroidal-acceleration.txx"
#endif