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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2020-2025, LAAS-CNRS, University of Edinburgh, |
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// Heriot-Watt University |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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namespace crocoddyl { |
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template <typename Scalar> |
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ContactModel1DTpl<Scalar>::ContactModel1DTpl( |
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std::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id, |
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const Scalar xref, const pinocchio::ReferenceFrame type, |
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const Matrix3s& rotation, const std::size_t nu, const Vector2s& gains) |
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: Base(state, type, 1, nu), xref_(xref), Raxis_(rotation), gains_(gains) { |
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id_ = id; |
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} |
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template <typename Scalar> |
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ContactModel1DTpl<Scalar>::ContactModel1DTpl( |
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std::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id, |
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const Scalar xref, const pinocchio::ReferenceFrame type, |
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const Vector2s& gains) |
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: Base(state, type, 1), xref_(xref), gains_(gains) { |
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id_ = id; |
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Raxis_ = Matrix3s::Identity(); |
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} |
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#pragma GCC diagnostic push // TODO: Remove once the deprecated FrameXX has |
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// been removed in a future release |
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#pragma GCC diagnostic ignored "-Wdeprecated-declarations" |
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template <typename Scalar> |
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ContactModel1DTpl<Scalar>::ContactModel1DTpl( |
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std::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id, |
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const Scalar xref, const std::size_t nu, const Vector2s& gains) |
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: Base(state, pinocchio::ReferenceFrame::LOCAL, 1, nu), |
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xref_(xref), |
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gains_(gains) { |
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id_ = id; |
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Raxis_ = Matrix3s::Identity(); |
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std::cerr << "Deprecated: Use constructor that passes the type of contact, " |
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"this assumes is pinocchio::LOCAL." |
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<< std::endl; |
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} |
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template <typename Scalar> |
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ContactModel1DTpl<Scalar>::ContactModel1DTpl( |
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std::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id, |
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const Scalar xref, const Vector2s& gains) |
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: Base(state, pinocchio::ReferenceFrame::LOCAL, 1), |
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xref_(xref), |
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gains_(gains) { |
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id_ = id; |
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Raxis_ = Matrix3s::Identity(); |
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std::cerr << "Deprecated: Use constructor that passes the type of contact, " |
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"this assumes is pinocchio::LOCAL." |
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<< std::endl; |
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} |
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#pragma GCC diagnostic pop |
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template <typename Scalar> |
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void ContactModel1DTpl<Scalar>::calc( |
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const std::shared_ptr<ContactDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>&) { |
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Data* d = static_cast<Data*>(data.get()); |
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pinocchio::updateFramePlacement(*state_->get_pinocchio().get(), *d->pinocchio, |
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id_); |
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pinocchio::getFrameJacobian(*state_->get_pinocchio().get(), *d->pinocchio, |
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id_, pinocchio::LOCAL, d->fJf); |
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d->v = pinocchio::getFrameVelocity(*state_->get_pinocchio().get(), |
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*d->pinocchio, id_); |
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d->a0_local = |
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pinocchio::getFrameClassicalAcceleration( |
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*state_->get_pinocchio().get(), *d->pinocchio, id_, pinocchio::LOCAL) |
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.linear(); |
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const Eigen::Ref<const Matrix3s> oRf = d->pinocchio->oMf[id_].rotation(); |
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if (gains_[0] != Scalar(0.)) { |
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d->dp = d->pinocchio->oMf[id_].translation() - |
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(xref_ * Raxis_ * Vector3s::UnitZ()); |
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d->dp_local.noalias() = oRf.transpose() * d->dp; |
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d->a0_local += gains_[0] * d->dp_local; |
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} |
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if (gains_[1] != Scalar(0.)) { |
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d->a0_local += gains_[1] * d->v.linear(); |
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} |
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switch (type_) { |
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case pinocchio::ReferenceFrame::LOCAL: |
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d->Jc.row(0) = (Raxis_ * d->fJf.template topRows<3>()).row(2); |
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d->a0[0] = (Raxis_ * d->a0_local)[2]; |
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break; |
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case pinocchio::ReferenceFrame::WORLD: |
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case pinocchio::ReferenceFrame::LOCAL_WORLD_ALIGNED: |
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d->Jc.row(0) = (Raxis_ * oRf * d->fJf.template topRows<3>()).row(2); |
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d->a0[0] = (Raxis_ * oRf * d->a0_local)[2]; |
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break; |
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} |
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} |
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template <typename Scalar> |
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void ContactModel1DTpl<Scalar>::calcDiff( |
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const std::shared_ptr<ContactDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>&) { |
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Data* d = static_cast<Data*>(data.get()); |
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const pinocchio::JointIndex joint = |
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state_->get_pinocchio()->frames[d->frame].parentJoint; |
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pinocchio::getJointAccelerationDerivatives( |
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*state_->get_pinocchio().get(), *d->pinocchio, joint, pinocchio::LOCAL, |
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d->v_partial_dq, d->a_partial_dq, d->a_partial_dv, d->a_partial_da); |
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const std::size_t nv = state_->get_nv(); |
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pinocchio::skew(d->v.linear(), d->vv_skew); |
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pinocchio::skew(d->v.angular(), d->vw_skew); |
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d->fXjdv_dq.noalias() = d->fXj * d->v_partial_dq; |
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d->fXjda_dq.noalias() = d->fXj * d->a_partial_dq; |
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d->fXjda_dv.noalias() = d->fXj * d->a_partial_dv; |
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d->da0_local_dx.leftCols(nv) = d->fXjda_dq.template topRows<3>(); |
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d->da0_local_dx.leftCols(nv).noalias() += |
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d->vw_skew * d->fXjdv_dq.template topRows<3>(); |
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d->da0_local_dx.leftCols(nv).noalias() -= |
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d->vv_skew * d->fXjdv_dq.template bottomRows<3>(); |
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d->da0_local_dx.rightCols(nv) = d->fXjda_dv.template topRows<3>(); |
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d->da0_local_dx.rightCols(nv).noalias() += |
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d->vw_skew * d->fJf.template topRows<3>(); |
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d->da0_local_dx.rightCols(nv).noalias() -= |
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d->vv_skew * d->fJf.template bottomRows<3>(); |
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const Eigen::Ref<const Matrix3s> oRf = d->pinocchio->oMf[id_].rotation(); |
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if (gains_[0] != Scalar(0.)) { |
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pinocchio::skew(d->dp_local, d->dp_skew); |
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d->da0_local_dx.leftCols(nv).noalias() += |
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gains_[0] * d->dp_skew * d->fJf.template bottomRows<3>(); |
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d->da0_local_dx.leftCols(nv).noalias() += |
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gains_[0] * d->fJf.template topRows<3>(); |
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} |
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if (gains_[1] != Scalar(0.)) { |
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d->da0_local_dx.leftCols(nv).noalias() += |
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gains_[1] * d->fXjdv_dq.template topRows<3>(); |
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d->da0_local_dx.rightCols(nv).noalias() += |
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gains_[1] * d->fJf.template topRows<3>(); |
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} |
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switch (type_) { |
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case pinocchio::ReferenceFrame::LOCAL: |
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d->da0_dx.row(0) = (Raxis_ * d->da0_local_dx).row(2); |
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break; |
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case pinocchio::ReferenceFrame::WORLD: |
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case pinocchio::ReferenceFrame::LOCAL_WORLD_ALIGNED: |
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// Recalculate the constrained accelerations after imposing contact |
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// constraints. This is necessary for the forward-dynamics case. |
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d->a0_local = pinocchio::getFrameClassicalAcceleration( |
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*state_->get_pinocchio().get(), *d->pinocchio, id_, |
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pinocchio::LOCAL) |
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.linear(); |
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if (gains_[0] != Scalar(0.)) { |
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d->a0_local += gains_[0] * d->dp_local; |
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} |
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if (gains_[1] != Scalar(0.)) { |
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d->a0_local += gains_[1] * d->v.linear(); |
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} |
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d->a0[0] = (Raxis_ * oRf * d->a0_local)[2]; |
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pinocchio::skew((Raxis_ * oRf * d->a0_local).template head<3>(), |
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d->a0_skew); |
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d->a0_world_skew.noalias() = d->a0_skew * Raxis_ * oRf; |
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d->da0_dx.row(0) = (Raxis_ * oRf * d->da0_local_dx).row(2); |
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d->da0_dx.leftCols(nv).row(0) -= |
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(d->a0_world_skew * d->fJf.template bottomRows<3>()).row(2); |
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break; |
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} |
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} |
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template <typename Scalar> |
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void ContactModel1DTpl<Scalar>::updateForce( |
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const std::shared_ptr<ContactDataAbstract>& data, const VectorXs& force) { |
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if (force.size() != 1) { |
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throw_pretty( |
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"Invalid argument: " << "lambda has wrong dimension (it should be 1)"); |
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} |
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Data* d = static_cast<Data*>(data.get()); |
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const Eigen::Ref<const Matrix3s> R = d->jMf.rotation(); |
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data->f.linear()[2] = force[0]; |
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data->f.linear().template head<2>().setZero(); |
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data->f.angular().setZero(); |
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switch (type_) { |
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case pinocchio::ReferenceFrame::LOCAL: |
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data->fext.linear() = (R * Raxis_.transpose()).col(2) * force[0]; |
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data->fext.angular() = d->jMf.translation().cross(data->fext.linear()); |
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data->dtau_dq.setZero(); |
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break; |
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case pinocchio::ReferenceFrame::WORLD: |
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case pinocchio::ReferenceFrame::LOCAL_WORLD_ALIGNED: |
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const Eigen::Ref<const Matrix3s> oRf = d->pinocchio->oMf[id_].rotation(); |
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d->f_local.linear().noalias() = |
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(oRf.transpose() * Raxis_.transpose()).col(2) * force[0]; |
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d->f_local.angular().setZero(); |
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data->fext = data->jMf.act(d->f_local); |
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pinocchio::skew(d->f_local.linear(), d->f_skew); |
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d->fJf_df.noalias() = d->f_skew * d->fJf.template bottomRows<3>(); |
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data->dtau_dq.noalias() = |
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-d->fJf.template topRows<3>().transpose() * d->fJf_df; |
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break; |
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} |
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} |
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template <typename Scalar> |
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std::shared_ptr<ContactDataAbstractTpl<Scalar> > |
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ContactModel1DTpl<Scalar>::createData(pinocchio::DataTpl<Scalar>* const data) { |
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return std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this, |
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data); |
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} |
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template <typename Scalar> |
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template <typename NewScalar> |
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ContactModel1DTpl<NewScalar> ContactModel1DTpl<Scalar>::cast() const { |
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typedef ContactModel1DTpl<NewScalar> ReturnType; |
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typedef StateMultibodyTpl<NewScalar> StateType; |
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ReturnType ret( |
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std::make_shared<StateType>(state_->template cast<NewScalar>()), id_, |
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scalar_cast<NewScalar>(xref_), type_, Raxis_.template cast<NewScalar>(), |
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nu_, gains_.template cast<NewScalar>()); |
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return ret; |
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} |
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template <typename Scalar> |
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void ContactModel1DTpl<Scalar>::print(std::ostream& os) const { |
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os << "ContactModel1D {frame=" << state_->get_pinocchio()->frames[id_].name |
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<< ", axis=" << (Raxis_ * Vector3s::UnitZ()).transpose() << "}"; |
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} |
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template <typename Scalar> |
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const Scalar ContactModel1DTpl<Scalar>::get_reference() const { |
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return xref_; |
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} |
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template <typename Scalar> |
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const typename MathBaseTpl<Scalar>::Vector2s& |
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ContactModel1DTpl<Scalar>::get_gains() const { |
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return gains_; |
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} |
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template <typename Scalar> |
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const typename MathBaseTpl<Scalar>::Matrix3s& |
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ContactModel1DTpl<Scalar>::get_axis_rotation() const { |
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return Raxis_; |
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} |
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template <typename Scalar> |
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void ContactModel1DTpl<Scalar>::set_reference(const Scalar reference) { |
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xref_ = reference; |
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} |
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template <typename Scalar> |
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void ContactModel1DTpl<Scalar>::set_axis_rotation(const Matrix3s& rotation) { |
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Raxis_ = rotation; |
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} |
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} // namespace crocoddyl |
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