dcm-position.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 DCMPositionDataTpl;
 
template <typename _Scalar>
struct DCMPositionResidualTpl : 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 = DCMPositionDataTpl<Scalar>;
 
  Model pin_model_;
 
  DCMPositionResidualTpl(const int ndx, const int nu, const Model &model,
                         const Vector3s &dcm_ref, const double alpha)
      : Base(ndx, nu, 3)
      , pin_model_(model)
      , dcm_ref_(dcm_ref)
      , alpha_(alpha) {}
 
  const Vector3s &getReference() const { return dcm_ref_; }
  void setReference(const Eigen::Ref<const Vector3s> &new_ref) {
    dcm_ref_ = new_ref;
  }
 
  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 dcm_ref_;
  double alpha_;
};
 
template <typename Scalar>
struct DCMPositionDataTpl : StageFunctionDataTpl<Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  using Base = StageFunctionDataTpl<Scalar>;
  using PinData = pinocchio::DataTpl<Scalar>;

  PinData pin_data_;
  typename math_types<Scalar>::Matrix3Xs fJf_;
 
  DCMPositionDataTpl(const DCMPositionResidualTpl<Scalar> &model);
};
 
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
extern template struct DCMPositionResidualTpl<context::Scalar>;
extern template struct DCMPositionDataTpl<context::Scalar>;
#endif
} // namespace aligator