frame-translation.hpp

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#pragma once
 
#include "aligator/core/unary-function.hpp"
#include "aligator/modelling/multibody/fwd.hpp"
 
#include <pinocchio/multibody/model.hpp>
#include <pinocchio/multibody/frame.hpp>
#include "aligator/third-party/polymorphic_cxx14.h"
 
namespace aligator {
 
template <typename Scalar> struct FrameTranslationDataTpl;
 
template <typename _Scalar>
struct FrameTranslationResidualTpl : UnaryFunctionTpl<_Scalar>, frame_api {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  using Scalar = _Scalar;
  ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);
  ALIGATOR_UNARY_FUNCTION_INTERFACE(Scalar);
  using BaseData = typename Base::Data;
  using Model = pinocchio::ModelTpl<Scalar>;
  using ManifoldPtr = xyz::polymorphic<ManifoldAbstractTpl<Scalar>>;
  using SE3 = pinocchio::SE3Tpl<Scalar>;
  using Data = FrameTranslationDataTpl<Scalar>;
 
  Model pin_model_;
  Vector3s p_ref_;
 
  FrameTranslationResidualTpl(const int ndx, const int nu, const Model &model,
                              const Vector3s &frame_trans,
                              const pinocchio::FrameIndex frame_id);
 
  ALIGATOR_DEPRECATED const Vector3s &getReference() const { return p_ref_; }
  ALIGATOR_DEPRECATED 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);
  }
};
 
template <typename Scalar>
struct FrameTranslationDataTpl : StageFunctionDataTpl<Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  using Base = StageFunctionDataTpl<Scalar>;
  using PinData = pinocchio::DataTpl<Scalar>;

  PinData pin_data_;

  typename math_types<Scalar>::Matrix6Xs fJf_;
 
  FrameTranslationDataTpl(const FrameTranslationResidualTpl<Scalar> &model);
};
 
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
extern template struct FrameTranslationResidualTpl<context::Scalar>;
extern template struct FrameTranslationDataTpl<context::Scalar>;
#endif
} // namespace aligator