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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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ContactModel2DTpl<Scalar>::ContactModel2DTpl( |
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std::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id, |
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const Vector2s& xref, const std::size_t nu, const Vector2s& gains) |
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: Base(state, pinocchio::ReferenceFrame::LOCAL, 2, nu), |
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xref_(xref), |
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gains_(gains) { |
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id_ = id; |
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} |
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template <typename Scalar> |
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ContactModel2DTpl<Scalar>::ContactModel2DTpl( |
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std::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id, |
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const Vector2s& xref, const Vector2s& gains) |
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: Base(state, pinocchio::ReferenceFrame::LOCAL, 2), |
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xref_(xref), |
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gains_(gains) { |
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id_ = id; |
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} |
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template <typename Scalar> |
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void ContactModel2DTpl<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->a = pinocchio::getFrameAcceleration(*state_->get_pinocchio().get(), |
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*d->pinocchio, id_); |
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d->Jc.row(0) = d->fJf.row(0); |
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d->Jc.row(1) = d->fJf.row(2); |
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d->vw = d->v.angular(); |
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d->vv = d->v.linear(); |
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d->a0[0] = d->a.linear()[0] + d->vw[1] * d->vv[2] - d->vw[2] * d->vv[1]; |
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d->a0[1] = d->a.linear()[2] + d->vw[0] * d->vv[1] - d->vw[1] * d->vv[0]; |
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if (gains_[0] != 0.) { |
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d->a0[0] += |
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gains_[0] * (d->pinocchio->oMf[id_].translation()[0] - xref_[0]); |
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d->a0[1] += |
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gains_[0] * (d->pinocchio->oMf[id_].translation()[2] - xref_[1]); |
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} |
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if (gains_[1] != 0.) { |
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d->a0[0] += gains_[1] * d->vv[0]; |
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d->a0[1] += gains_[1] * d->vv[2]; |
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} |
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} |
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template <typename Scalar> |
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void ContactModel2DTpl<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->vv, d->vv_skew); |
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pinocchio::skew(d->vw, 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_dx.leftCols(nv).row(0) = d->fXjda_dq.row(0); |
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d->da0_dx.leftCols(nv).row(0).noalias() += |
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d->vw_skew.row(0) * d->fXjdv_dq.template topRows<3>(); |
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d->da0_dx.leftCols(nv).row(0).noalias() -= |
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d->vv_skew.row(0) * d->fXjdv_dq.template bottomRows<3>(); |
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d->da0_dx.leftCols(nv).row(1) = d->fXjda_dq.row(2); |
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d->da0_dx.leftCols(nv).row(1).noalias() += |
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d->vw_skew.row(2) * d->fXjdv_dq.template topRows<3>(); |
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d->da0_dx.leftCols(nv).row(1).noalias() -= |
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d->vv_skew.row(2) * d->fXjdv_dq.template bottomRows<3>(); |
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d->da0_dx.rightCols(nv).row(0) = d->fXjda_dv.row(0); |
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d->da0_dx.rightCols(nv).row(0).noalias() += |
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d->vw_skew.row(0) * d->fJf.template topRows<3>(); |
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d->da0_dx.rightCols(nv).row(0).noalias() -= |
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d->vv_skew.row(0) * d->fJf.template bottomRows<3>(); |
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d->da0_dx.rightCols(nv).row(1) = d->fXjda_dv.row(2); |
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d->da0_dx.rightCols(nv).row(1).noalias() += |
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d->vw_skew.row(2) * d->fJf.template topRows<3>(); |
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d->da0_dx.rightCols(nv).row(1).noalias() -= |
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d->vv_skew.row(2) * d->fJf.template bottomRows<3>(); |
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if (gains_[0] != 0.) { |
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const Eigen::Ref<const Matrix3s> oRf = d->pinocchio->oMf[id_].rotation(); |
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d->oRf(0, 0) = oRf(0, 0); |
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d->oRf(1, 0) = oRf(2, 0); |
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d->oRf(0, 1) = oRf(0, 2); |
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d->oRf(1, 1) = oRf(2, 2); |
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d->da0_dx.leftCols(nv).noalias() += gains_[0] * d->oRf * d->Jc; |
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} |
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if (gains_[1] != 0.) { |
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d->da0_dx.leftCols(nv).row(0).noalias() += |
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gains_[1] * d->fXj.row(0) * d->v_partial_dq; |
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d->da0_dx.leftCols(nv).row(1).noalias() += |
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gains_[1] * d->fXj.row(2) * d->v_partial_dq; |
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d->da0_dx.rightCols(nv).row(0).noalias() += |
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gains_[1] * d->fXj.row(0) * d->a_partial_da; |
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d->da0_dx.rightCols(nv).row(1).noalias() += |
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gains_[1] * d->fXj.row(2) * d->a_partial_da; |
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} |
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} |
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template <typename Scalar> |
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void ContactModel2DTpl<Scalar>::updateForce( |
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const std::shared_ptr<ContactDataAbstract>& data, const VectorXs& force) { |
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if (force.size() != 2) { |
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throw_pretty( |
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"Invalid argument: " << "lambda has wrong dimension (it should be 2)"); |
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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() = R.col(0) * force[0] + R.col(2) * force[1]; |
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data->f.angular().setZero(); |
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data->fext.linear() = R.col(0) * force[0] + R.col(2) * force[1]; |
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data->fext.angular() = d->jMf.translation().cross(data->fext.linear()); |
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} |
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template <typename Scalar> |
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std::shared_ptr<ContactDataAbstractTpl<Scalar> > |
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ContactModel2DTpl<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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ContactModel2DTpl<NewScalar> ContactModel2DTpl<Scalar>::cast() const { |
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typedef ContactModel2DTpl<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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xref_.template cast<NewScalar>(), 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 ContactModel2DTpl<Scalar>::print(std::ostream& os) const { |
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os << "ContactModel2D {frame=" << state_->get_pinocchio()->frames[id_].name |
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<< "}"; |
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} |
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template <typename Scalar> |
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const typename MathBaseTpl<Scalar>::Vector2s& |
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ContactModel2DTpl<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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ContactModel2DTpl<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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void ContactModel2DTpl<Scalar>::set_reference(const Vector2s& reference) { |
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xref_ = reference; |
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} |
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} // namespace crocoddyl |
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