| Directory: | ./ |
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| File: | include/crocoddyl/multibody/contact-base.hpp |
| Date: | 2025-02-24 23:41:29 |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh, | ||
| 5 | // Heriot-Watt University | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | #ifndef CROCODDYL_MULTIBODY_CONTACT_BASE_HPP_ | ||
| 11 | #define CROCODDYL_MULTIBODY_CONTACT_BASE_HPP_ | ||
| 12 | |||
| 13 | #include <pinocchio/multibody/fwd.hpp> | ||
| 14 | |||
| 15 | #include "crocoddyl/core/mathbase.hpp" | ||
| 16 | #include "crocoddyl/core/utils/deprecate.hpp" | ||
| 17 | #include "crocoddyl/multibody/force-base.hpp" | ||
| 18 | #include "crocoddyl/multibody/fwd.hpp" | ||
| 19 | #include "crocoddyl/multibody/states/multibody.hpp" | ||
| 20 | |||
| 21 | namespace crocoddyl { | ||
| 22 | |||
| 23 | template <typename _Scalar> | ||
| 24 | class ContactModelAbstractTpl { | ||
| 25 | public: | ||
| 26 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 27 | |||
| 28 | typedef _Scalar Scalar; | ||
| 29 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 30 | typedef ContactDataAbstractTpl<Scalar> ContactDataAbstract; | ||
| 31 | typedef StateMultibodyTpl<Scalar> StateMultibody; | ||
| 32 | typedef typename MathBase::VectorXs VectorXs; | ||
| 33 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 34 | |||
| 35 | /** | ||
| 36 | * @brief Initialize the contact abstraction | ||
| 37 | * | ||
| 38 | * @param[in] state State of the multibody system | ||
| 39 | * @param[in] type Type of contact | ||
| 40 | * @param[in] nc Dimension of the contact model | ||
| 41 | * @param[in] nu Dimension of the control vector | ||
| 42 | */ | ||
| 43 | ContactModelAbstractTpl(std::shared_ptr<StateMultibody> state, | ||
| 44 | const pinocchio::ReferenceFrame type, | ||
| 45 | const std::size_t nc, const std::size_t nu); | ||
| 46 | ContactModelAbstractTpl(std::shared_ptr<StateMultibody> state, | ||
| 47 | const pinocchio::ReferenceFrame type, | ||
| 48 | const std::size_t nc); | ||
| 49 | |||
| 50 | DEPRECATED( | ||
| 51 | "Use constructor that passes the type type of contact, this assumes is " | ||
| 52 | "pinocchio::LOCAL", | ||
| 53 | ContactModelAbstractTpl(std::shared_ptr<StateMultibody> state, | ||
| 54 | const std::size_t nc, const std::size_t nu);) | ||
| 55 | DEPRECATED( | ||
| 56 | "Use constructor that passes the type type of contact, this assumes is " | ||
| 57 | "pinocchio::LOCAL", | ||
| 58 | ContactModelAbstractTpl(std::shared_ptr<StateMultibody> state, | ||
| 59 | const std::size_t nc);) | ||
| 60 | virtual ~ContactModelAbstractTpl(); | ||
| 61 | |||
| 62 | /** | ||
| 63 | * @brief Compute the contact Jacobian and acceleration drift | ||
| 64 | * | ||
| 65 | * @param[in] data Contact data | ||
| 66 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 67 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 68 | */ | ||
| 69 | virtual void calc(const std::shared_ptr<ContactDataAbstract>& data, | ||
| 70 | const Eigen::Ref<const VectorXs>& x) = 0; | ||
| 71 | |||
| 72 | /** | ||
| 73 | * @brief Compute the derivatives of the acceleration-based contact | ||
| 74 | * | ||
| 75 | * @param[in] data Contact data | ||
| 76 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 77 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 78 | */ | ||
| 79 | virtual void calcDiff(const std::shared_ptr<ContactDataAbstract>& data, | ||
| 80 | const Eigen::Ref<const VectorXs>& x) = 0; | ||
| 81 | |||
| 82 | /** | ||
| 83 | * @brief Convert the force into a stack of spatial forces | ||
| 84 | * | ||
| 85 | * @param[in] data Contact data | ||
| 86 | * @param[in] force Contact force | ||
| 87 | */ | ||
| 88 | virtual void updateForce(const std::shared_ptr<ContactDataAbstract>& data, | ||
| 89 | const VectorXs& force) = 0; | ||
| 90 | |||
| 91 | /** | ||
| 92 | * @brief Convert the force into a stack of spatial forces | ||
| 93 | * | ||
| 94 | * @param[in] data Contact data | ||
| 95 | * @param[in] force Contact force | ||
| 96 | */ | ||
| 97 | void updateForceDiff(const std::shared_ptr<ContactDataAbstract>& data, | ||
| 98 | const MatrixXs& df_dx, const MatrixXs& df_du) const; | ||
| 99 | |||
| 100 | /** | ||
| 101 | * @brief Set the stack of spatial forces to zero | ||
| 102 | * | ||
| 103 | * @param[in] data Contact data | ||
| 104 | */ | ||
| 105 | void setZeroForce(const std::shared_ptr<ContactDataAbstract>& data) const; | ||
| 106 | |||
| 107 | /** | ||
| 108 | * @brief Set the stack of spatial forces Jacobians to zero | ||
| 109 | * | ||
| 110 | * @param[in] data Contact data | ||
| 111 | */ | ||
| 112 | void setZeroForceDiff(const std::shared_ptr<ContactDataAbstract>& data) const; | ||
| 113 | |||
| 114 | /** | ||
| 115 | * @brief Create the contact data | ||
| 116 | */ | ||
| 117 | virtual std::shared_ptr<ContactDataAbstract> createData( | ||
| 118 | pinocchio::DataTpl<Scalar>* const data); | ||
| 119 | |||
| 120 | /** | ||
| 121 | * @brief Return the state | ||
| 122 | */ | ||
| 123 | const std::shared_ptr<StateMultibody>& get_state() const; | ||
| 124 | |||
| 125 | /** | ||
| 126 | * @brief Return the dimension of the contact | ||
| 127 | */ | ||
| 128 | std::size_t get_nc() const; | ||
| 129 | |||
| 130 | /** | ||
| 131 | * @brief Return the dimension of the control vector | ||
| 132 | */ | ||
| 133 | std::size_t get_nu() const; | ||
| 134 | |||
| 135 | /** | ||
| 136 | * @brief Return the reference frame id | ||
| 137 | */ | ||
| 138 | pinocchio::FrameIndex get_id() const; | ||
| 139 | |||
| 140 | /** | ||
| 141 | * @brief Modify the reference frame id | ||
| 142 | */ | ||
| 143 | void set_id(const pinocchio::FrameIndex id); | ||
| 144 | |||
| 145 | /** | ||
| 146 | * @brief Modify the type of contact | ||
| 147 | */ | ||
| 148 | void set_type(const pinocchio::ReferenceFrame type); | ||
| 149 | |||
| 150 | /** | ||
| 151 | * @brief Return the type of contact | ||
| 152 | */ | ||
| 153 | pinocchio::ReferenceFrame get_type() const; | ||
| 154 | |||
| 155 | /** | ||
| 156 | * @brief Print information on the contact model | ||
| 157 | */ | ||
| 158 | template <class Scalar> | ||
| 159 | friend std::ostream& operator<<(std::ostream& os, | ||
| 160 | const ContactModelAbstractTpl<Scalar>& model); | ||
| 161 | |||
| 162 | /** | ||
| 163 | * @brief Print relevant information of the contact model | ||
| 164 | * | ||
| 165 | * @param[out] os Output stream object | ||
| 166 | */ | ||
| 167 | virtual void print(std::ostream& os) const; | ||
| 168 | |||
| 169 | protected: | ||
| 170 | std::shared_ptr<StateMultibody> state_; | ||
| 171 | std::size_t nc_; | ||
| 172 | std::size_t nu_; | ||
| 173 | pinocchio::FrameIndex id_; //!< Reference frame id of the contact | ||
| 174 | pinocchio::ReferenceFrame type_; //!< Type of contact | ||
| 175 | }; | ||
| 176 | |||
| 177 | template <typename _Scalar> | ||
| 178 | struct ContactDataAbstractTpl : public ForceDataAbstractTpl<_Scalar> { | ||
| 179 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 180 | |||
| 181 | typedef _Scalar Scalar; | ||
| 182 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 183 | typedef ForceDataAbstractTpl<Scalar> Base; | ||
| 184 | typedef typename MathBase::VectorXs VectorXs; | ||
| 185 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 186 | typedef typename pinocchio::SE3Tpl<Scalar> SE3; | ||
| 187 | |||
| 188 | template <template <typename Scalar> class Model> | ||
| 189 | 326646 | ContactDataAbstractTpl(Model<Scalar>* const model, | |
| 190 | pinocchio::DataTpl<Scalar>* const data) | ||
| 191 | : Base(model, data), | ||
| 192 |
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326646 | fXj(jMf.inverse().toActionMatrix()), |
| 193 |
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326646 | a0(model->get_nc()), |
| 194 |
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326646 | da0_dx(model->get_nc(), model->get_state()->get_ndx()), |
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653292 | dtau_dq(model->get_state()->get_nv(), model->get_state()->get_nv()) { |
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326646 | a0.setZero(); |
| 197 |
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326646 | da0_dx.setZero(); |
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326646 | dtau_dq.setZero(); |
| 199 | 326646 | } | |
| 200 | 163462 | virtual ~ContactDataAbstractTpl() {} | |
| 201 | |||
| 202 | using Base::df_du; | ||
| 203 | using Base::df_dx; | ||
| 204 | using Base::f; | ||
| 205 | using Base::frame; | ||
| 206 | using Base::Jc; | ||
| 207 | using Base::jMf; | ||
| 208 | using Base::pinocchio; | ||
| 209 | |||
| 210 | typename SE3::ActionMatrixType fXj; | ||
| 211 | VectorXs a0; | ||
| 212 | MatrixXs da0_dx; | ||
| 213 | MatrixXs dtau_dq; | ||
| 214 | }; | ||
| 215 | |||
| 216 | } // namespace crocoddyl | ||
| 217 | |||
| 218 | /* --- Details -------------------------------------------------------------- */ | ||
| 219 | /* --- Details -------------------------------------------------------------- */ | ||
| 220 | /* --- Details -------------------------------------------------------------- */ | ||
| 221 | #include "crocoddyl/multibody/contact-base.hxx" | ||
| 222 | |||
| 223 | #endif // CROCODDYL_MULTIBODY_CONTACT_BASE_HPP_ | ||
| 224 |