task_space_3d_cost.hpp

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#ifndef ROBOTOC_TASK_SPACE_3D_COST_HPP_
#define ROBOTOC_TASK_SPACE_3D_COST_HPP_
 
#include <string>
 
#include "Eigen/Core"
 
#include "robotoc/robot/robot.hpp"
#include "robotoc/robot/contact_status.hpp"
#include "robotoc/robot/impact_status.hpp"
#include "robotoc/core/split_solution.hpp"
#include "robotoc/core/split_kkt_residual.hpp"
#include "robotoc/core/split_kkt_matrix.hpp"
#include "robotoc/core/split_solution.hpp"
#include "robotoc/cost/cost_function_component_base.hpp"
#include "robotoc/cost/cost_function_data.hpp"
#include "robotoc/cost/task_space_3d_ref_base.hpp"
 
 
namespace robotoc {
 
class TaskSpace3DCost final : public CostFunctionComponentBase {
public:
  TaskSpace3DCost(const Robot& robot, const int frame_id);
 
  TaskSpace3DCost(const Robot& robot, const std::string& frame_name);
 
  TaskSpace3DCost(const Robot& robot, const int frame_id, 
                  const std::shared_ptr<TaskSpace3DRefBase>& ref);
 
  TaskSpace3DCost(const Robot& robot, const int frame_id, 
                  const Eigen::Vector3d& const_ref);
 
  TaskSpace3DCost(const Robot& robot, const std::string& frame_name,
                  const std::shared_ptr<TaskSpace3DRefBase>& ref);
 
  TaskSpace3DCost(const Robot& robot, const std::string& frame_name,
                  const Eigen::Vector3d& const_ref);
 
  TaskSpace3DCost();
 
  ~TaskSpace3DCost();
 
  TaskSpace3DCost(const TaskSpace3DCost&) = default;
 
  TaskSpace3DCost& operator=(const TaskSpace3DCost&) = default;
 
  TaskSpace3DCost(TaskSpace3DCost&&) noexcept = default;
 
  TaskSpace3DCost& operator=(TaskSpace3DCost&&) noexcept = default;
 
  void set_ref(const std::shared_ptr<TaskSpace3DRefBase>& ref);
 
  void set_const_ref(const Eigen::Vector3d& const_ref);
 
  void set_weight(const Eigen::Vector3d& weight);
 
  void set_weight_terminal(const Eigen::Vector3d& weight_terminal);
 
  void set_weight_impact(const Eigen::Vector3d& weight_impact);
 
  bool isCostActive(const GridInfo& grid_info) const {
    if (use_nonconst_ref_) {
      return ref_->isActive(grid_info);
    }
    else {
      return true;
    }
  }
 
  void evalDiff(const Robot& robot, CostFunctionData& data, 
                const GridInfo& grid_info) const {
    if (use_nonconst_ref_) {
      if (ref_->isActive(grid_info)) {
        ref_->updateRef(grid_info, data.x3d_ref);
        data.diff_3d = robot.framePosition(frame_id_) - data.x3d_ref;
      }
    }
    else {
      data.diff_3d = robot.framePosition(frame_id_) - const_ref_;
    }
  }
 
  double evalStageCost(Robot& robot, const ContactStatus& contact_status, 
                       CostFunctionData& data, const GridInfo& grid_info, 
                       const SplitSolution& s) const override;
 
  void evalStageCostDerivatives(Robot& robot, const ContactStatus& contact_status, 
                                CostFunctionData& data, const GridInfo& grid_info,
                                const SplitSolution& s, 
                                SplitKKTResidual& kkt_residual) const override;
 
  void evalStageCostHessian(Robot& robot, const ContactStatus& contact_status, 
                            CostFunctionData& data, const GridInfo& grid_info,  
                            const SplitSolution& s, 
                            SplitKKTMatrix& kkt_matrix) const override;
 
  double evalTerminalCost(Robot& robot, CostFunctionData& data, 
                          const GridInfo& grid_info, 
                          const SplitSolution& s) const override;
 
  void evalTerminalCostDerivatives(Robot& robot, CostFunctionData& data, 
                                   const GridInfo& grid_info, 
                                   const SplitSolution& s, 
                                   SplitKKTResidual& kkt_residual) const override;
 
  void evalTerminalCostHessian(Robot& robot, CostFunctionData& data, 
                               const GridInfo& grid_info, 
                               const SplitSolution& s, 
                               SplitKKTMatrix& kkt_matrix) const override;
 
  double evalImpactCost(Robot& robot, const ImpactStatus& impact_status, 
                         CostFunctionData& data, const GridInfo& grid_info, 
                         const SplitSolution& s) const override;
 
  void evalImpactCostDerivatives(Robot& robot, const ImpactStatus& impact_status, 
                                  CostFunctionData& data, const GridInfo& grid_info,
                                  const SplitSolution& s, 
                                  SplitKKTResidual& kkt_residual) const override;
 
  void evalImpactCostHessian(Robot& robot, const ImpactStatus& impact_status, 
                              CostFunctionData& data, const GridInfo& grid_info,
                              const SplitSolution& s, 
                              SplitKKTMatrix& kkt_matrix) const override;
 
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
private:
  int frame_id_;
  Eigen::Vector3d const_ref_, weight_, weight_terminal_, weight_impact_;
  std::shared_ptr<TaskSpace3DRefBase> ref_;
  bool use_nonconst_ref_, enable_cost_, enable_cost_terminal_, enable_cost_impact_;
};
 
} // namespace robotoc
 
 
#endif // ROBOTOC_TASK_SPACE_3D_COST_HPP_