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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2025, 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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ContactModel6DTpl<Scalar>::ContactModel6DTpl( |
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std::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id, |
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const SE3& pref, const pinocchio::ReferenceFrame type, const std::size_t nu, |
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const Vector2s& gains) |
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: Base(state, type, 6, nu), pref_(pref), gains_(gains) { |
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id_ = id; |
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} |
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template <typename Scalar> |
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ContactModel6DTpl<Scalar>::ContactModel6DTpl( |
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std::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id, |
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const SE3& pref, const pinocchio::ReferenceFrame type, |
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const Vector2s& gains) |
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: Base(state, type, 6), pref_(pref), gains_(gains) { |
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id_ = id; |
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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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ContactModel6DTpl<Scalar>::ContactModel6DTpl( |
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std::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id, |
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const SE3& pref, const std::size_t nu, const Vector2s& gains) |
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: Base(state, pinocchio::ReferenceFrame::LOCAL, 6, nu), |
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pref_(pref), |
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gains_(gains) { |
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id_ = id; |
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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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ContactModel6DTpl<Scalar>::ContactModel6DTpl( |
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std::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id, |
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const SE3& pref, const Vector2s& gains) |
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: Base(state, pinocchio::ReferenceFrame::LOCAL, 6), |
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pref_(pref), |
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gains_(gains) { |
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id_ = id; |
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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 ContactModel6DTpl<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<Scalar>(*state_->get_pinocchio().get(), |
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*d->pinocchio, 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->a0_local = pinocchio::getFrameAcceleration(*state_->get_pinocchio().get(), |
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*d->pinocchio, id_); |
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if (gains_[0] != 0.) { |
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d->rMf = pref_.actInv(d->pinocchio->oMf[id_]); |
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d->a0_local += gains_[0] * pinocchio::log6(d->rMf); |
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} |
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if (gains_[1] != 0.) { |
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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 += gains_[1] * d->v; |
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} |
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switch (type_) { |
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case pinocchio::ReferenceFrame::LOCAL: |
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data->Jc = d->fJf; |
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data->a0 = d->a0_local.toVector(); |
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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->lwaMl.rotation(d->pinocchio->oMf[id_].rotation()); |
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data->Jc.noalias() = d->lwaMl.toActionMatrix() * d->fJf; |
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data->a0.noalias() = d->lwaMl.act(d->a0_local).toVector(); |
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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 ContactModel6DTpl<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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d->da0_local_dx.leftCols(nv).noalias() = d->fXj * d->a_partial_dq; |
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d->da0_local_dx.rightCols(nv).noalias() = d->fXj * d->a_partial_dv; |
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if (gains_[0] != 0.) { |
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pinocchio::Jlog6(d->rMf, d->rMf_Jlog6); |
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d->da0_local_dx.leftCols(nv).noalias() += gains_[0] * d->rMf_Jlog6 * d->fJf; |
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} |
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if (gains_[1] != 0.) { |
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d->da0_local_dx.leftCols(nv).noalias() += |
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gains_[1] * d->fXj * d->v_partial_dq; |
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d->da0_local_dx.rightCols(nv).noalias() += gains_[1] * d->fJf; |
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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 = d->da0_local_dx; |
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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::getFrameAcceleration( |
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*state_->get_pinocchio().get(), *d->pinocchio, id_); |
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if (gains_[0] != 0.) { |
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d->a0_local += gains_[0] * pinocchio::log6(d->rMf); |
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} |
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if (gains_[1] != 0.) { |
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d->a0_local += gains_[1] * d->v; |
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} |
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data->a0.noalias() = d->lwaMl.act(d->a0_local).toVector(); |
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const Eigen::Ref<const Matrix3s> oRf = d->pinocchio->oMf[id_].rotation(); |
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pinocchio::skew(d->a0.template head<3>(), d->av_skew); |
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pinocchio::skew(d->a0.template tail<3>(), d->aw_skew); |
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d->av_world_skew.noalias() = d->av_skew * oRf; |
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d->aw_world_skew.noalias() = d->aw_skew * oRf; |
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d->da0_dx.noalias() = d->lwaMl.toActionMatrix() * d->da0_local_dx; |
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d->da0_dx.leftCols(nv).template topRows<3>().noalias() -= |
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d->av_world_skew * d->fJf.template bottomRows<3>(); |
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d->da0_dx.leftCols(nv).template bottomRows<3>().noalias() -= |
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d->aw_world_skew * d->fJf.template bottomRows<3>(); |
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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 ContactModel6DTpl<Scalar>::updateForce( |
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const std::shared_ptr<ContactDataAbstract>& data, const VectorXs& force) { |
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if (force.size() != 6) { |
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throw_pretty( |
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"Invalid argument: " << "lambda has wrong dimension (it should be 6)"); |
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} |
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Data* d = static_cast<Data*>(data.get()); |
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data->f = pinocchio::ForceTpl<Scalar>(force); |
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switch (type_) { |
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case pinocchio::ReferenceFrame::LOCAL: |
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data->fext = data->jMf.act(data->f); |
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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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d->f_local = d->lwaMl.actInv(data->f); |
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data->fext = data->jMf.act(d->f_local); |
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pinocchio::skew(d->f_local.linear(), d->fv_skew); |
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pinocchio::skew(d->f_local.angular(), d->fw_skew); |
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d->fJf_df.template topRows<3>().noalias() = |
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d->fv_skew * d->fJf.template bottomRows<3>(); |
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d->fJf_df.template bottomRows<3>().noalias() = |
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d->fw_skew * d->fJf.template bottomRows<3>(); |
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d->dtau_dq.noalias() = -d->fJf.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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ContactModel6DTpl<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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ContactModel6DTpl<NewScalar> ContactModel6DTpl<Scalar>::cast() const { |
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typedef ContactModel6DTpl<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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pref_.template cast<NewScalar>(), type_, nu_, |
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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 ContactModel6DTpl<Scalar>::print(std::ostream& os) const { |
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os << "ContactModel6D {frame=" << state_->get_pinocchio()->frames[id_].name |
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<< ", type=" << type_ << "}"; |
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} |
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template <typename Scalar> |
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const pinocchio::SE3Tpl<Scalar>& ContactModel6DTpl<Scalar>::get_reference() |
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const { |
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return pref_; |
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} |
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template <typename Scalar> |
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const typename MathBaseTpl<Scalar>::Vector2s& |
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ContactModel6DTpl<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 ContactModel6DTpl<Scalar>::set_reference(const SE3& reference) { |
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pref_ = reference; |
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} |
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} // namespace crocoddyl |
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