pinocchio_dynamics_solver.h

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//
// Copyright (c) 2019, Wolfgang Merkt
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#ifndef EXOTICA_PINOCCHIO_DYNAMICS_SOLVER_PINOCCHIO_DYNAMICS_SOLVER_H_
#define EXOTICA_PINOCCHIO_DYNAMICS_SOLVER_PINOCCHIO_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_dynamics_solver_initializer.h>

#include <pinocchio/multibody/data.hpp>
#include <pinocchio/multibody/model.hpp>

#pragma GCC diagnostic pop

namespace exotica
{
class PinocchioDynamicsSolver : public DynamicsSolver, public Instantiable<PinocchioDynamicsSolverInitializer>
{
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;
    ControlVector InverseDynamics(const StateVector& x) 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_;
};
}  // namespace exotica

#endif  // EXOTICA_PINOCCHIO_DYNAMICS_SOLVER_PINOCCHIO_DYNAMICS_SOLVER_H_