pinocchio_gravity_compensation_dynamics_solver.h

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#ifndef EXOTICA_PINOCCHIO_DYNAMICS_SOLVER_PINOCCHIO_GRAVITY_COMPENSATION_DYNAMICS_SOLVER_H_
#define EXOTICA_PINOCCHIO_DYNAMICS_SOLVER_PINOCCHIO_GRAVITY_COMPENSATION_DYNAMICS_SOLVER_H_
 
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
 
#include <pinocchio/fwd.hpp>
 
#include <exotica_core/dynamics_solver.h>
#include <exotica_core/scene.h>
 
#include <exotica_pinocchio_dynamics_solver/pinocchio_gravity_compensation_dynamics_solver_initializer.h>
 
#include <pinocchio/multibody/data.hpp>
#include <pinocchio/multibody/model.hpp>
 
#pragma GCC diagnostic pop
 
namespace exotica
{
class PinocchioDynamicsSolverWithGravityCompensation : public DynamicsSolver, public Instantiable<PinocchioDynamicsSolverWithGravityCompensationInitializer>
{
public:
    void AssignScene(ScenePtr scene_in) override;
 
    StateVector f(const StateVector& x, const ControlVector& u) override;
    StateDerivative fx(const StateVector& x, const ControlVector& u) override;
    ControlDerivative fu(const StateVector& x, const ControlVector& u) override;
    void ComputeDerivatives(const StateVector& x, const ControlVector& u) override;
    StateVector StateDelta(const StateVector& x_1, const StateVector& x_2) override;
    Eigen::MatrixXd dStateDelta(const StateVector& x_1, const StateVector& x_2, const ArgumentPosition first_or_second) override;
    void Integrate(const StateVector& x, const StateVector& dx, const double dt, StateVector& xout) override;
 
private:
    pinocchio::Model model_;
    std::unique_ptr<pinocchio::Data> pinocchio_data_;
 
    Eigen::VectorXd xdot_analytic_;
    Eigen::VectorXd u_nle_;
    Eigen::VectorXd u_command_;
    Eigen::VectorXd a_;
    Eigen::MatrixXd du_command_dq_;
    Eigen::MatrixXd du_nle_dq_;
};
}  // namespace exotica
 
#endif  // EXOTICA_PINOCCHIO_DYNAMICS_SOLVER_PINOCCHIO_GRAVITY_COMPENSATION_DYNAMICS_SOLVER_H_