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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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ContactModelAbstractTpl<Scalar>::ContactModelAbstractTpl( |
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std::shared_ptr<StateMultibody> state, const pinocchio::ReferenceFrame type, |
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const std::size_t nc, const std::size_t nu) |
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: state_(state), nc_(nc), nu_(nu), id_(0), type_(type) {} |
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template <typename Scalar> |
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ContactModelAbstractTpl<Scalar>::ContactModelAbstractTpl( |
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std::shared_ptr<StateMultibody> state, const pinocchio::ReferenceFrame type, |
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const std::size_t nc) |
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: state_(state), nc_(nc), nu_(state->get_nv()), id_(0), type_(type) {} |
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template <typename Scalar> |
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ContactModelAbstractTpl<Scalar>::ContactModelAbstractTpl( |
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std::shared_ptr<StateMultibody> state, const std::size_t nc, |
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const std::size_t nu) |
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: state_(state), |
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nc_(nc), |
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nu_(nu), |
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id_(0), |
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type_(pinocchio::ReferenceFrame::LOCAL) { |
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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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ContactModelAbstractTpl<Scalar>::ContactModelAbstractTpl( |
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std::shared_ptr<StateMultibody> state, const std::size_t nc) |
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: state_(state), |
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nc_(nc), |
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nu_(state->get_nv()), |
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id_(0), |
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type_(pinocchio::ReferenceFrame::LOCAL) { |
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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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void ContactModelAbstractTpl<Scalar>::updateForceDiff( |
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const std::shared_ptr<ContactDataAbstract>& data, const MatrixXs& df_dx, |
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const MatrixXs& df_du) const { |
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if (static_cast<std::size_t>(df_dx.rows()) != nc_ || |
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static_cast<std::size_t>(df_dx.cols()) != state_->get_ndx()) |
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throw_pretty("df_dx has wrong dimension"); |
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if (static_cast<std::size_t>(df_du.rows()) != nc_ || |
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static_cast<std::size_t>(df_du.cols()) != nu_) |
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throw_pretty("df_du has wrong dimension"); |
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data->df_dx = df_dx; |
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data->df_du = df_du; |
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} |
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template <typename Scalar> |
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void ContactModelAbstractTpl<Scalar>::setZeroForce( |
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const std::shared_ptr<ContactDataAbstract>& data) const { |
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data->f.setZero(); |
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data->fext.setZero(); |
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} |
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template <typename Scalar> |
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void ContactModelAbstractTpl<Scalar>::setZeroForceDiff( |
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const std::shared_ptr<ContactDataAbstract>& data) const { |
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data->df_dx.setZero(); |
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data->df_du.setZero(); |
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} |
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template <typename Scalar> |
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std::shared_ptr<ContactDataAbstractTpl<Scalar> > |
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ContactModelAbstractTpl<Scalar>::createData( |
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pinocchio::DataTpl<Scalar>* const data) { |
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return std::allocate_shared<ContactDataAbstract>( |
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Eigen::aligned_allocator<ContactDataAbstract>(), this, data); |
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} |
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template <typename Scalar> |
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void ContactModelAbstractTpl<Scalar>::print(std::ostream& os) const { |
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os << boost::core::demangle(typeid(*this).name()); |
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} |
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template <typename Scalar> |
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const std::shared_ptr<StateMultibodyTpl<Scalar> >& |
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ContactModelAbstractTpl<Scalar>::get_state() const { |
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return state_; |
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} |
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template <typename Scalar> |
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std::size_t ContactModelAbstractTpl<Scalar>::get_nc() const { |
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return nc_; |
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} |
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template <typename Scalar> |
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std::size_t ContactModelAbstractTpl<Scalar>::get_nu() const { |
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return nu_; |
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} |
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template <typename Scalar> |
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pinocchio::FrameIndex ContactModelAbstractTpl<Scalar>::get_id() const { |
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return id_; |
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} |
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template <typename Scalar> |
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pinocchio::ReferenceFrame ContactModelAbstractTpl<Scalar>::get_type() const { |
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return type_; |
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} |
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template <typename Scalar> |
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void ContactModelAbstractTpl<Scalar>::set_id(const pinocchio::FrameIndex id) { |
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id_ = id; |
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} |
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template <typename Scalar> |
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void ContactModelAbstractTpl<Scalar>::set_type( |
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const pinocchio::ReferenceFrame type) { |
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type_ = type; |
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} |
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template <class Scalar> |
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std::ostream& operator<<(std::ostream& os, |
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const ContactModelAbstractTpl<Scalar>& model) { |
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model.print(os); |
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return os; |
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} |
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} // namespace crocoddyl |
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