multibody-free-fwd.hpp

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#pragma once
 
#include "aligator/modelling/dynamics/ode-abstract.hpp"
 
#ifdef ALIGATOR_WITH_PINOCCHIO
#include "aligator/modelling/spaces/multibody.hpp"
#include <pinocchio/multibody/data.hpp>
 
namespace aligator {
namespace dynamics {
template <typename Scalar> struct MultibodyFreeFwdDataTpl;

template <typename _Scalar>
struct MultibodyFreeFwdDynamicsTpl : ODEAbstractTpl<_Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  using Scalar = _Scalar;
  ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);
  using Base = ODEAbstractTpl<Scalar>;
  using BaseData = ContinuousDynamicsDataTpl<Scalar>;
  using ContDataAbstract = ContinuousDynamicsDataTpl<Scalar>;
  using Data = MultibodyFreeFwdDataTpl<Scalar>;
  using Manifold = MultibodyPhaseSpace<Scalar>;
  using PolyManifold = xyz::polymorphic<Manifold>;
 
  using Base::nu_;
 
  Manifold space_;
  MatrixXs actuation_matrix_;
 
  const Manifold &space() const { return space_; }
  int ntau() const { return space_.getModel().nv; }
 
  MultibodyFreeFwdDynamicsTpl(const Manifold &state, const MatrixXs &actuation);
  MultibodyFreeFwdDynamicsTpl(const Manifold &state);

  bool isUnderactuated() const {
    long nv = space().getModel().nv;
    return act_matrix_rank < nv;
  }
 
  Eigen::Index getActuationMatrixRank() const { return act_matrix_rank; }
 
  virtual void forward(const ConstVectorRef &x, const ConstVectorRef &u,
                       BaseData &data) const;
  virtual void dForward(const ConstVectorRef &x, const ConstVectorRef &u,
                        BaseData &data) const;
 
  shared_ptr<ContDataAbstract> createData() const;
 
private:
  Eigen::FullPivLU<MatrixXs> lu_decomp_;
  Eigen::Index act_matrix_rank;
};
 
template <typename Scalar>
struct MultibodyFreeFwdDataTpl : ContinuousDynamicsDataTpl<Scalar> {
  using Base = ContinuousDynamicsDataTpl<Scalar>;
  using VectorXs = typename math_types<Scalar>::VectorXs;
  using MatrixXs = typename math_types<Scalar>::MatrixXs;
  using PinDataType = pinocchio::DataTpl<Scalar>;
  VectorXs tau_;
  MatrixXs dtau_dx_;
  MatrixXs dtau_du_;
  PinDataType pin_data_;
  MultibodyFreeFwdDataTpl(const MultibodyFreeFwdDynamicsTpl<Scalar> *cont_dyn);
};
 
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
extern template struct MultibodyFreeFwdDynamicsTpl<context::Scalar>;
extern template struct MultibodyFreeFwdDataTpl<context::Scalar>;
#endif
 
} // namespace dynamics
} // namespace aligator
#endif