| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, 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 | namespace crocoddyl { | ||
| 11 | |||
| 12 | template <typename Scalar> | ||
| 13 | ✗ | ContactModelAbstractTpl<Scalar>::ContactModelAbstractTpl( | |
| 14 | std::shared_ptr<StateMultibody> state, const pinocchio::ReferenceFrame type, | ||
| 15 | const std::size_t nc, const std::size_t nu) | ||
| 16 | ✗ | : state_(state), nc_(nc), nu_(nu), id_(0), type_(type) {} | |
| 17 | |||
| 18 | template <typename Scalar> | ||
| 19 | ✗ | ContactModelAbstractTpl<Scalar>::ContactModelAbstractTpl( | |
| 20 | std::shared_ptr<StateMultibody> state, const pinocchio::ReferenceFrame type, | ||
| 21 | const std::size_t nc) | ||
| 22 | ✗ | : state_(state), nc_(nc), nu_(state->get_nv()), id_(0), type_(type) {} | |
| 23 | |||
| 24 | template <typename Scalar> | ||
| 25 | ✗ | ContactModelAbstractTpl<Scalar>::ContactModelAbstractTpl( | |
| 26 | std::shared_ptr<StateMultibody> state, const std::size_t nc, | ||
| 27 | const std::size_t nu) | ||
| 28 | ✗ | : state_(state), | |
| 29 | ✗ | nc_(nc), | |
| 30 | ✗ | nu_(nu), | |
| 31 | ✗ | id_(0), | |
| 32 | ✗ | type_(pinocchio::ReferenceFrame::LOCAL) { | |
| 33 | ✗ | std::cerr << "Deprecated: Use constructor that passes the type of contact, " | |
| 34 | "this assumes is pinocchio::LOCAL." | ||
| 35 | ✗ | << std::endl; | |
| 36 | ✗ | } | |
| 37 | |||
| 38 | template <typename Scalar> | ||
| 39 | ✗ | ContactModelAbstractTpl<Scalar>::ContactModelAbstractTpl( | |
| 40 | std::shared_ptr<StateMultibody> state, const std::size_t nc) | ||
| 41 | ✗ | : state_(state), | |
| 42 | ✗ | nc_(nc), | |
| 43 | ✗ | nu_(state->get_nv()), | |
| 44 | ✗ | id_(0), | |
| 45 | ✗ | type_(pinocchio::ReferenceFrame::LOCAL) { | |
| 46 | ✗ | std::cerr << "Deprecated: Use constructor that passes the type of contact, " | |
| 47 | "this assumes is pinocchio::LOCAL." | ||
| 48 | ✗ | << std::endl; | |
| 49 | ✗ | } | |
| 50 | |||
| 51 | template <typename Scalar> | ||
| 52 | ✗ | void ContactModelAbstractTpl<Scalar>::updateForceDiff( | |
| 53 | const std::shared_ptr<ContactDataAbstract>& data, const MatrixXs& df_dx, | ||
| 54 | const MatrixXs& df_du) const { | ||
| 55 | ✗ | if (static_cast<std::size_t>(df_dx.rows()) != nc_ || | |
| 56 | ✗ | static_cast<std::size_t>(df_dx.cols()) != state_->get_ndx()) | |
| 57 | ✗ | throw_pretty("df_dx has wrong dimension"); | |
| 58 | |||
| 59 | ✗ | if (static_cast<std::size_t>(df_du.rows()) != nc_ || | |
| 60 | ✗ | static_cast<std::size_t>(df_du.cols()) != nu_) | |
| 61 | ✗ | throw_pretty("df_du has wrong dimension"); | |
| 62 | |||
| 63 | ✗ | data->df_dx = df_dx; | |
| 64 | ✗ | data->df_du = df_du; | |
| 65 | ✗ | } | |
| 66 | |||
| 67 | template <typename Scalar> | ||
| 68 | ✗ | void ContactModelAbstractTpl<Scalar>::setZeroForce( | |
| 69 | const std::shared_ptr<ContactDataAbstract>& data) const { | ||
| 70 | ✗ | data->f.setZero(); | |
| 71 | ✗ | data->fext.setZero(); | |
| 72 | ✗ | } | |
| 73 | |||
| 74 | template <typename Scalar> | ||
| 75 | ✗ | void ContactModelAbstractTpl<Scalar>::setZeroForceDiff( | |
| 76 | const std::shared_ptr<ContactDataAbstract>& data) const { | ||
| 77 | ✗ | data->df_dx.setZero(); | |
| 78 | ✗ | data->df_du.setZero(); | |
| 79 | ✗ | } | |
| 80 | |||
| 81 | template <typename Scalar> | ||
| 82 | std::shared_ptr<ContactDataAbstractTpl<Scalar> > | ||
| 83 | ✗ | ContactModelAbstractTpl<Scalar>::createData( | |
| 84 | pinocchio::DataTpl<Scalar>* const data) { | ||
| 85 | return std::allocate_shared<ContactDataAbstract>( | ||
| 86 | ✗ | Eigen::aligned_allocator<ContactDataAbstract>(), this, data); | |
| 87 | } | ||
| 88 | |||
| 89 | template <typename Scalar> | ||
| 90 | ✗ | void ContactModelAbstractTpl<Scalar>::print(std::ostream& os) const { | |
| 91 | ✗ | os << boost::core::demangle(typeid(*this).name()); | |
| 92 | ✗ | } | |
| 93 | |||
| 94 | template <typename Scalar> | ||
| 95 | const std::shared_ptr<StateMultibodyTpl<Scalar> >& | ||
| 96 | ✗ | ContactModelAbstractTpl<Scalar>::get_state() const { | |
| 97 | ✗ | return state_; | |
| 98 | } | ||
| 99 | |||
| 100 | template <typename Scalar> | ||
| 101 | ✗ | std::size_t ContactModelAbstractTpl<Scalar>::get_nc() const { | |
| 102 | ✗ | return nc_; | |
| 103 | } | ||
| 104 | |||
| 105 | template <typename Scalar> | ||
| 106 | ✗ | std::size_t ContactModelAbstractTpl<Scalar>::get_nu() const { | |
| 107 | ✗ | return nu_; | |
| 108 | } | ||
| 109 | |||
| 110 | template <typename Scalar> | ||
| 111 | ✗ | pinocchio::FrameIndex ContactModelAbstractTpl<Scalar>::get_id() const { | |
| 112 | ✗ | return id_; | |
| 113 | } | ||
| 114 | |||
| 115 | template <typename Scalar> | ||
| 116 | ✗ | pinocchio::ReferenceFrame ContactModelAbstractTpl<Scalar>::get_type() const { | |
| 117 | ✗ | return type_; | |
| 118 | } | ||
| 119 | |||
| 120 | template <typename Scalar> | ||
| 121 | ✗ | void ContactModelAbstractTpl<Scalar>::set_id(const pinocchio::FrameIndex id) { | |
| 122 | ✗ | id_ = id; | |
| 123 | ✗ | } | |
| 124 | |||
| 125 | template <typename Scalar> | ||
| 126 | ✗ | void ContactModelAbstractTpl<Scalar>::set_type( | |
| 127 | const pinocchio::ReferenceFrame type) { | ||
| 128 | ✗ | type_ = type; | |
| 129 | ✗ | } | |
| 130 | |||
| 131 | template <class Scalar> | ||
| 132 | ✗ | std::ostream& operator<<(std::ostream& os, | |
| 133 | const ContactModelAbstractTpl<Scalar>& model) { | ||
| 134 | ✗ | model.print(os); | |
| 135 | ✗ | return os; | |
| 136 | } | ||
| 137 | |||
| 138 | } // namespace crocoddyl | ||
| 139 |