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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2020-2025, University of Duisburg-Essen, |
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// University of Edinburgh, 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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#ifndef CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_COP_POSITION_HPP_ |
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#define CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_COP_POSITION_HPP_ |
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#include "crocoddyl/core/residual-base.hpp" |
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#include "crocoddyl/multibody/contact-base.hpp" |
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#include "crocoddyl/multibody/contacts/contact-3d.hpp" |
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#include "crocoddyl/multibody/contacts/contact-6d.hpp" |
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#include "crocoddyl/multibody/contacts/multiple-contacts.hpp" |
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#include "crocoddyl/multibody/cop-support.hpp" |
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#include "crocoddyl/multibody/data/contacts.hpp" |
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#include "crocoddyl/multibody/data/impulses.hpp" |
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#include "crocoddyl/multibody/fwd.hpp" |
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#include "crocoddyl/multibody/impulse-base.hpp" |
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#include "crocoddyl/multibody/impulses/impulse-3d.hpp" |
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#include "crocoddyl/multibody/impulses/impulse-6d.hpp" |
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#include "crocoddyl/multibody/impulses/multiple-impulses.hpp" |
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#include "crocoddyl/multibody/states/multibody.hpp" |
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namespace crocoddyl { |
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/** |
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* @brief Center of pressure residual function |
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* |
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* It builds a residual function that bounds the center of pressure (CoP) for |
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* one contact surface to lie inside a certain geometric area defined around the |
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* reference contact frame. The residual residual vector is described as |
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* \f$\mathbf{r}=\mathbf{A}\boldsymbol{\lambda}\geq\mathbf{0}\f$, where \f[ |
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* \mathbf{A}= |
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* \begin{bmatrix} 0 & 0 & X/2 & 0 & -1 & 0 \\ 0 & 0 & X/2 & 0 & 1 & 0 \\ 0 |
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* & 0 & Y/2 & 1 & 0 & 0 \\ 0 & 0 & Y/2 & -1 & 0 & 0 \end{bmatrix} \f] is the |
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* inequality matrix and \f$\boldsymbol{\lambda}\f$ is the reference spatial |
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* contact force in the frame coordinate. The CoP lies inside the convex hull of |
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* the foot, see eq.(18-19) of |
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* https://hal.archives-ouvertes.fr/hal-02108449/document is we have: |
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* \f[ |
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* \begin{align}\begin{split}\tau^x &\leq |
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* Yf^z \\-\tau^x &\leq Yf^z \\\tau^y &\leq Yf^z \\-\tau^y &\leq Yf^z |
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* \end{split}\end{align} |
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* \f] |
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* with \f$\boldsymbol{\lambda}= \begin{bmatrix}f^x & f^y & f^z & \tau^x & |
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* \tau^y & \tau^z \end{bmatrix}^T\f$. |
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* |
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* The residual is computed, from the residual vector \f$\mathbf{r}\f$, through |
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* an user defined activation model. Additionally, the contact frame id, the |
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* desired support region for the CoP and the inequality matrix are handled |
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* within `CoPSupportTpl`. The force vector \f$\boldsymbol{\lambda}\f$ and its |
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* derivatives are computed by `DifferentialActionModelContactFwdDynamicsTpl` or |
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* `ActionModelImpulseFwdDynamicTpl`. These values are stored in a shared data |
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* (i.e., `DataCollectorContactTpl` or `DataCollectorImpulseTpl`). Note that |
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* this residual function cannot be used with other action models. |
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* |
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* \sa `ResidualModelAbstractTpl`, `calc()`, `calcDiff()`, `createData()`, |
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* `DifferentialActionModelContactFwdDynamicsTpl`, |
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* `ActionModelImpulseFwdDynamicTpl`, `DataCollectorForceTpl` |
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*/ |
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template <typename _Scalar> |
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class ResidualModelContactCoPPositionTpl |
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: public ResidualModelAbstractTpl<_Scalar> { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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CROCODDYL_DERIVED_CAST(ResidualModelBase, ResidualModelContactCoPPositionTpl) |
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typedef _Scalar Scalar; |
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typedef MathBaseTpl<Scalar> MathBase; |
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typedef ResidualModelAbstractTpl<Scalar> Base; |
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typedef ResidualDataContactCoPPositionTpl<Scalar> Data; |
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typedef StateMultibodyTpl<Scalar> StateMultibody; |
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typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract; |
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typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; |
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typedef CoPSupportTpl<Scalar> CoPSupport; |
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typedef typename MathBase::VectorXs VectorXs; |
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typedef typename MathBase::MatrixXs MatrixXs; |
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typedef typename MathBase::Matrix46s Matrix46; |
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/** |
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* @brief Initialize the contact CoP residual model |
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* |
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* Note that for the inverse-dynamic cases, the control vector contains the |
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* generalized accelerations, torques, and all the contact forces. |
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* |
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* @param[in] state State of the multibody system |
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* @param[in] id Reference frame id |
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* @param[in] cref Reference support region of the CoP |
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* @param[in] nu Dimension of control vector |
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* @param[in] fwddyn Indicates that we have a forward dynamics problem (true) |
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* or inverse dynamics (false) |
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*/ |
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ResidualModelContactCoPPositionTpl(std::shared_ptr<StateMultibody> state, |
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const pinocchio::FrameIndex id, |
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const CoPSupport& cref, |
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const std::size_t nu, |
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const bool fwddyn = true); |
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/** |
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* @brief Initialize the contact CoP residual model |
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* |
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* The default `nu` value is obtained from `StateAbstractTpl::get_nv()`. Note |
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* that this constructor can be used for forward-dynamics cases only. |
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* |
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* @param[in] state State of the multibody system |
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* @param[in] id Reference frame id |
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* @param[in] cref Reference support region of the CoP |
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*/ |
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ResidualModelContactCoPPositionTpl(std::shared_ptr<StateMultibody> state, |
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const pinocchio::FrameIndex id, |
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const CoPSupport& cref); |
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virtual ~ResidualModelContactCoPPositionTpl() = default; |
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/** |
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* @brief Compute the contact CoP residual |
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* |
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* The CoP residual is computed based on the \f$\mathbf{A}\f$ matrix, the |
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* force vector is computed by `DifferentialActionModelContactFwdDynamicsTpl` |
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* or `ActionModelImpulseFwdDynamicTpl` which is stored in |
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* `DataCollectorContactTpl` or `DataCollectorImpulseTpl`. |
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* |
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* @param[in] data Contact CoP data |
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* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
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* @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ |
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*/ |
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virtual void calc(const std::shared_ptr<ResidualDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& u) override; |
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/** |
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* @brief Compute the residual vector for nodes that depends only on the state |
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* |
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* It updates the residual vector based on the state only (i.e., it ignores |
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* the contact forces). This function is used in the terminal nodes of an |
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* optimal control problem. |
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* |
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* @param[in] data Residual data |
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* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
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*/ |
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virtual void calc(const std::shared_ptr<ResidualDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x) override; |
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/** |
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* @brief Compute the Jacobians of the contact CoP residual |
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* |
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* The CoP residual is computed based on the \f$\mathbf{A}\f$ matrix, the |
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* force vector is computed by `DifferentialActionModelContactFwdDynamicsTpl` |
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* or `ActionModelImpulseFwdDynamicTpl` which is stored in |
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* `DataCollectorContactTpl` or `DataCollectorImpulseTpl`. |
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* |
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* @param[in] data Contact CoP data |
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* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
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* @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ |
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*/ |
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virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& u) override; |
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/** |
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* @brief Compute the Jacobian of the residual functions with respect to the |
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* state only |
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* |
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* It updates the Jacobian of the residual function based on the state only |
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* (i.e., it ignores the contact forces). This function is used in the |
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* terminal nodes of an optimal control problem. |
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* |
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* @param[in] data Residual data |
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* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
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*/ |
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virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x) override; |
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/** |
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* @brief Create the contact CoP residual data |
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* |
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* Each residual model has its own data that needs to be allocated. |
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* This function returns the allocated data for a predefined residual. |
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* |
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* @param[in] data Shared data (it should be of type |
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* `DataCollectorContactTpl`) |
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* @return the residual data. |
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*/ |
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virtual std::shared_ptr<ResidualDataAbstract> createData( |
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DataCollectorAbstract* const data) override; |
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/** |
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* @brief Update the Jacobians of the contact friction cone residual |
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* |
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* @param[in] data Contact friction cone residual data |
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*/ |
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void updateJacobians(const std::shared_ptr<ResidualDataAbstract>& data); |
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/** |
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* @brief Cast the contact-cop-position residual model to a different scalar |
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* type. |
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* |
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* It is useful for operations requiring different precision or scalar types. |
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* |
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* @tparam NewScalar The new scalar type to cast to. |
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* @return ResidualModelContactCoPPositionTpl<NewScalar> A residual model with |
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* the new scalar type. |
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*/ |
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template <typename NewScalar> |
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ResidualModelContactCoPPositionTpl<NewScalar> cast() const; |
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/** |
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* @brief Indicates if we are using the forward-dynamics (true) or |
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* inverse-dynamics (false) |
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*/ |
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bool is_fwddyn() const; |
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/** |
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* @brief Return the reference frame id |
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*/ |
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pinocchio::FrameIndex get_id() const; |
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/** |
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* @brief Return the reference support region of CoP |
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*/ |
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const CoPSupport& get_reference() const; |
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/** |
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* @brief Modify the reference frame id |
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*/ |
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DEPRECATED("Do not use set_id, instead create a new model", |
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void set_id(pinocchio::FrameIndex id);) |
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/** |
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* @brief Modify the reference support region of CoP |
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*/ |
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void set_reference(const CoPSupport& reference); |
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/** |
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* @brief Print relevant information of the cop-position residual |
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* |
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* @param[out] os Output stream object |
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*/ |
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virtual void print(std::ostream& os) const override; |
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protected: |
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using Base::nu_; |
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using Base::state_; |
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private: |
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bool fwddyn_; //!< Indicates if we are using this function for forward |
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//!< dynamics |
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bool update_jacobians_; //!< Indicates if we need to update the Jacobians |
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//!< (used for inverse dynamics case) |
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pinocchio::FrameIndex id_; //!< Reference frame id |
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CoPSupport cref_; //!< Reference support region of CoP |
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}; |
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template <typename _Scalar> |
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struct ResidualDataContactCoPPositionTpl |
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: public ResidualDataAbstractTpl<_Scalar> { |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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typedef _Scalar Scalar; |
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typedef MathBaseTpl<Scalar> MathBase; |
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typedef ResidualDataAbstractTpl<Scalar> Base; |
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typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; |
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typedef StateMultibodyTpl<Scalar> StateMultibody; |
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typedef typename MathBase::MatrixXs MatrixXs; |
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template <template <typename Scalar> class Model> |
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ResidualDataContactCoPPositionTpl(Model<Scalar>* const model, |
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DataCollectorAbstract* const data) |
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: Base(model, data) { |
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// Check that proper shared data has been passed |
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bool is_contact = true; |
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DataCollectorContactTpl<Scalar>* d1 = |
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dynamic_cast<DataCollectorContactTpl<Scalar>*>(shared); |
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DataCollectorImpulseTpl<Scalar>* d2 = |
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dynamic_cast<DataCollectorImpulseTpl<Scalar>*>(shared); |
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if (d1 == NULL && d2 == NULL) { |
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throw_pretty( |
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"Invalid argument: the shared data should be derived from " |
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"DataCollectorContact or DataCollectorImpulse"); |
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} |
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if (d2 != NULL) { |
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is_contact = false; |
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} |
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// Avoids data casting at runtime |
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const pinocchio::FrameIndex id = model->get_id(); |
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const std::shared_ptr<StateMultibody>& state = |
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std::static_pointer_cast<StateMultibody>(model->get_state()); |
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std::string frame_name = state->get_pinocchio()->frames[id].name; |
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bool found_contact = false; |
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if (is_contact) { |
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for (typename ContactModelMultipleTpl< |
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Scalar>::ContactDataContainer::iterator it = |
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d1->contacts->contacts.begin(); |
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it != d1->contacts->contacts.end(); ++it) { |
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if (it->second->frame == id) { |
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ContactData3DTpl<Scalar>* d3d = |
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dynamic_cast<ContactData3DTpl<Scalar>*>(it->second.get()); |
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if (d3d != NULL) { |
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found_contact = true; |
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contact = it->second; |
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throw_pretty( |
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"Domain error: there isn't defined at least a 6d contact for " + |
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frame_name); |
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break; |
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} |
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ContactData6DTpl<Scalar>* d6d = |
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dynamic_cast<ContactData6DTpl<Scalar>*>(it->second.get()); |
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if (d6d != NULL) { |
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found_contact = true; |
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contact = it->second; |
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break; |
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} |
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throw_pretty( |
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"Domain error: there isn't defined at least a 6d contact for " + |
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frame_name); |
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break; |
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} |
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} |
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} else { |
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for (typename ImpulseModelMultipleTpl< |
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Scalar>::ImpulseDataContainer::iterator it = |
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d2->impulses->impulses.begin(); |
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it != d2->impulses->impulses.end(); ++it) { |
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if (it->second->frame == id) { |
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ImpulseData3DTpl<Scalar>* d3d = |
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dynamic_cast<ImpulseData3DTpl<Scalar>*>(it->second.get()); |
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|
✗ |
if (d3d != NULL) { |
| 332 |
|
✗ |
found_contact = true; |
| 333 |
|
✗ |
contact = it->second; |
| 334 |
|
✗ |
throw_pretty( |
| 335 |
|
|
"Domain error: there isn't defined at least a 6d contact for " + |
| 336 |
|
|
frame_name); |
| 337 |
|
|
break; |
| 338 |
|
|
} |
| 339 |
|
✗ |
ImpulseData6DTpl<Scalar>* d6d = |
| 340 |
|
✗ |
dynamic_cast<ImpulseData6DTpl<Scalar>*>(it->second.get()); |
| 341 |
|
✗ |
if (d6d != NULL) { |
| 342 |
|
✗ |
found_contact = true; |
| 343 |
|
✗ |
contact = it->second; |
| 344 |
|
✗ |
break; |
| 345 |
|
|
} |
| 346 |
|
✗ |
throw_pretty( |
| 347 |
|
|
"Domain error: there isn't defined at least a 6d contact for " + |
| 348 |
|
|
frame_name); |
| 349 |
|
|
break; |
| 350 |
|
|
} |
| 351 |
|
|
} |
| 352 |
|
|
} |
| 353 |
|
✗ |
if (!found_contact) { |
| 354 |
|
✗ |
throw_pretty("Domain error: there isn't defined contact data for " + |
| 355 |
|
|
frame_name); |
| 356 |
|
|
} |
| 357 |
|
|
} |
| 358 |
|
✗ |
virtual ~ResidualDataContactCoPPositionTpl() = default; |
| 359 |
|
|
|
| 360 |
|
|
pinocchio::DataTpl<Scalar>* pinocchio; //!< Pinocchio data |
| 361 |
|
|
std::shared_ptr<ForceDataAbstractTpl<Scalar> > contact; //!< Contact force |
| 362 |
|
|
using Base::r; |
| 363 |
|
|
using Base::Ru; |
| 364 |
|
|
using Base::Rx; |
| 365 |
|
|
using Base::shared; |
| 366 |
|
|
}; |
| 367 |
|
|
|
| 368 |
|
|
} // namespace crocoddyl |
| 369 |
|
|
|
| 370 |
|
|
/* --- Details -------------------------------------------------------------- */ |
| 371 |
|
|
/* --- Details -------------------------------------------------------------- */ |
| 372 |
|
|
/* --- Details -------------------------------------------------------------- */ |
| 373 |
|
|
#include "crocoddyl/multibody/residuals/contact-cop-position.hxx" |
| 374 |
|
|
|
| 375 |
|
|
CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS( |
| 376 |
|
|
crocoddyl::ResidualModelContactCoPPositionTpl) |
| 377 |
|
|
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT( |
| 378 |
|
|
crocoddyl::ResidualDataContactCoPPositionTpl) |
| 379 |
|
|
|
| 380 |
|
|
#endif // CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_COP_POSITION_HPP_ |
| 381 |
|
|
|