| Directory: | ./ |
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| File: | include/crocoddyl/multibody/residuals/contact-cop-position.hpp |
| Date: | 2025-03-26 19:23:43 |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2020-2025, University of Duisburg-Essen, | ||
| 5 | // University of Edinburgh, Heriot-Watt University | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | #ifndef CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_COP_POSITION_HPP_ | ||
| 11 | #define CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_COP_POSITION_HPP_ | ||
| 12 | |||
| 13 | #include "crocoddyl/core/residual-base.hpp" | ||
| 14 | #include "crocoddyl/multibody/contact-base.hpp" | ||
| 15 | #include "crocoddyl/multibody/contacts/contact-3d.hpp" | ||
| 16 | #include "crocoddyl/multibody/contacts/contact-6d.hpp" | ||
| 17 | #include "crocoddyl/multibody/contacts/multiple-contacts.hpp" | ||
| 18 | #include "crocoddyl/multibody/cop-support.hpp" | ||
| 19 | #include "crocoddyl/multibody/data/contacts.hpp" | ||
| 20 | #include "crocoddyl/multibody/data/impulses.hpp" | ||
| 21 | #include "crocoddyl/multibody/fwd.hpp" | ||
| 22 | #include "crocoddyl/multibody/impulse-base.hpp" | ||
| 23 | #include "crocoddyl/multibody/impulses/impulse-3d.hpp" | ||
| 24 | #include "crocoddyl/multibody/impulses/impulse-6d.hpp" | ||
| 25 | #include "crocoddyl/multibody/impulses/multiple-impulses.hpp" | ||
| 26 | #include "crocoddyl/multibody/states/multibody.hpp" | ||
| 27 | |||
| 28 | namespace crocoddyl { | ||
| 29 | |||
| 30 | /** | ||
| 31 | * @brief Center of pressure residual function | ||
| 32 | * | ||
| 33 | * It builds a residual function that bounds the center of pressure (CoP) for | ||
| 34 | * one contact surface to lie inside a certain geometric area defined around the | ||
| 35 | * reference contact frame. The residual residual vector is described as | ||
| 36 | * \f$\mathbf{r}=\mathbf{A}\boldsymbol{\lambda}\geq\mathbf{0}\f$, where \f[ | ||
| 37 | * \mathbf{A}= | ||
| 38 | * \begin{bmatrix} 0 & 0 & X/2 & 0 & -1 & 0 \\ 0 & 0 & X/2 & 0 & 1 & 0 \\ 0 | ||
| 39 | * & 0 & Y/2 & 1 & 0 & 0 \\ 0 & 0 & Y/2 & -1 & 0 & 0 \end{bmatrix} \f] is the | ||
| 40 | * inequality matrix and \f$\boldsymbol{\lambda}\f$ is the reference spatial | ||
| 41 | * contact force in the frame coordinate. The CoP lies inside the convex hull of | ||
| 42 | * the foot, see eq.(18-19) of | ||
| 43 | * https://hal.archives-ouvertes.fr/hal-02108449/document is we have: | ||
| 44 | * \f[ | ||
| 45 | * \begin{align}\begin{split}\tau^x &\leq | ||
| 46 | * Yf^z \\-\tau^x &\leq Yf^z \\\tau^y &\leq Yf^z \\-\tau^y &\leq Yf^z | ||
| 47 | * \end{split}\end{align} | ||
| 48 | * \f] | ||
| 49 | * with \f$\boldsymbol{\lambda}= \begin{bmatrix}f^x & f^y & f^z & \tau^x & | ||
| 50 | * \tau^y & \tau^z \end{bmatrix}^T\f$. | ||
| 51 | * | ||
| 52 | * The residual is computed, from the residual vector \f$\mathbf{r}\f$, through | ||
| 53 | * an user defined activation model. Additionally, the contact frame id, the | ||
| 54 | * desired support region for the CoP and the inequality matrix are handled | ||
| 55 | * within `CoPSupportTpl`. The force vector \f$\boldsymbol{\lambda}\f$ and its | ||
| 56 | * derivatives are computed by `DifferentialActionModelContactFwdDynamicsTpl` or | ||
| 57 | * `ActionModelImpulseFwdDynamicTpl`. These values are stored in a shared data | ||
| 58 | * (i.e., `DataCollectorContactTpl` or `DataCollectorImpulseTpl`). Note that | ||
| 59 | * this residual function cannot be used with other action models. | ||
| 60 | * | ||
| 61 | * \sa `ResidualModelAbstractTpl`, `calc()`, `calcDiff()`, `createData()`, | ||
| 62 | * `DifferentialActionModelContactFwdDynamicsTpl`, | ||
| 63 | * `ActionModelImpulseFwdDynamicTpl`, `DataCollectorForceTpl` | ||
| 64 | */ | ||
| 65 | template <typename _Scalar> | ||
| 66 | class ResidualModelContactCoPPositionTpl | ||
| 67 | : public ResidualModelAbstractTpl<_Scalar> { | ||
| 68 | public: | ||
| 69 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 70 | ✗ | CROCODDYL_DERIVED_CAST(ResidualModelBase, ResidualModelContactCoPPositionTpl) | |
| 71 | |||
| 72 | typedef _Scalar Scalar; | ||
| 73 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 74 | typedef ResidualModelAbstractTpl<Scalar> Base; | ||
| 75 | typedef ResidualDataContactCoPPositionTpl<Scalar> Data; | ||
| 76 | typedef StateMultibodyTpl<Scalar> StateMultibody; | ||
| 77 | typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract; | ||
| 78 | typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; | ||
| 79 | typedef CoPSupportTpl<Scalar> CoPSupport; | ||
| 80 | typedef typename MathBase::VectorXs VectorXs; | ||
| 81 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 82 | typedef typename MathBase::Matrix46s Matrix46; | ||
| 83 | |||
| 84 | /** | ||
| 85 | * @brief Initialize the contact CoP residual model | ||
| 86 | * | ||
| 87 | * Note that for the inverse-dynamic cases, the control vector contains the | ||
| 88 | * generalized accelerations, torques, and all the contact forces. | ||
| 89 | * | ||
| 90 | * @param[in] state State of the multibody system | ||
| 91 | * @param[in] id Reference frame id | ||
| 92 | * @param[in] cref Reference support region of the CoP | ||
| 93 | * @param[in] nu Dimension of control vector | ||
| 94 | * @param[in] fwddyn Indicates that we have a forward dynamics problem (true) | ||
| 95 | * or inverse dynamics (false) | ||
| 96 | */ | ||
| 97 | ResidualModelContactCoPPositionTpl(std::shared_ptr<StateMultibody> state, | ||
| 98 | const pinocchio::FrameIndex id, | ||
| 99 | const CoPSupport& cref, | ||
| 100 | const std::size_t nu, | ||
| 101 | const bool fwddyn = true); | ||
| 102 | |||
| 103 | /** | ||
| 104 | * @brief Initialize the contact CoP residual model | ||
| 105 | * | ||
| 106 | * The default `nu` value is obtained from `StateAbstractTpl::get_nv()`. Note | ||
| 107 | * that this constructor can be used for forward-dynamics cases only. | ||
| 108 | * | ||
| 109 | * @param[in] state State of the multibody system | ||
| 110 | * @param[in] id Reference frame id | ||
| 111 | * @param[in] cref Reference support region of the CoP | ||
| 112 | */ | ||
| 113 | ResidualModelContactCoPPositionTpl(std::shared_ptr<StateMultibody> state, | ||
| 114 | const pinocchio::FrameIndex id, | ||
| 115 | const CoPSupport& cref); | ||
| 116 | 70 | virtual ~ResidualModelContactCoPPositionTpl() = default; | |
| 117 | |||
| 118 | /** | ||
| 119 | * @brief Compute the contact CoP residual | ||
| 120 | * | ||
| 121 | * The CoP residual is computed based on the \f$\mathbf{A}\f$ matrix, the | ||
| 122 | * force vector is computed by `DifferentialActionModelContactFwdDynamicsTpl` | ||
| 123 | * or `ActionModelImpulseFwdDynamicTpl` which is stored in | ||
| 124 | * `DataCollectorContactTpl` or `DataCollectorImpulseTpl`. | ||
| 125 | * | ||
| 126 | * @param[in] data Contact CoP data | ||
| 127 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 128 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 129 | */ | ||
| 130 | virtual void calc(const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 131 | const Eigen::Ref<const VectorXs>& x, | ||
| 132 | const Eigen::Ref<const VectorXs>& u) override; | ||
| 133 | |||
| 134 | /** | ||
| 135 | * @brief Compute the residual vector for nodes that depends only on the state | ||
| 136 | * | ||
| 137 | * It updates the residual vector based on the state only (i.e., it ignores | ||
| 138 | * the contact forces). This function is used in the terminal nodes of an | ||
| 139 | * optimal control problem. | ||
| 140 | * | ||
| 141 | * @param[in] data Residual data | ||
| 142 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 143 | */ | ||
| 144 | virtual void calc(const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 145 | const Eigen::Ref<const VectorXs>& x) override; | ||
| 146 | |||
| 147 | /** | ||
| 148 | * @brief Compute the Jacobians of the contact CoP residual | ||
| 149 | * | ||
| 150 | * The CoP residual is computed based on the \f$\mathbf{A}\f$ matrix, the | ||
| 151 | * force vector is computed by `DifferentialActionModelContactFwdDynamicsTpl` | ||
| 152 | * or `ActionModelImpulseFwdDynamicTpl` which is stored in | ||
| 153 | * `DataCollectorContactTpl` or `DataCollectorImpulseTpl`. | ||
| 154 | * | ||
| 155 | * @param[in] data Contact CoP data | ||
| 156 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 157 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 158 | */ | ||
| 159 | virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 160 | const Eigen::Ref<const VectorXs>& x, | ||
| 161 | const Eigen::Ref<const VectorXs>& u) override; | ||
| 162 | |||
| 163 | /** | ||
| 164 | * @brief Compute the Jacobian of the residual functions with respect to the | ||
| 165 | * state only | ||
| 166 | * | ||
| 167 | * It updates the Jacobian of the residual function based on the state only | ||
| 168 | * (i.e., it ignores the contact forces). This function is used in the | ||
| 169 | * terminal nodes of an optimal control problem. | ||
| 170 | * | ||
| 171 | * @param[in] data Residual data | ||
| 172 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 173 | */ | ||
| 174 | virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 175 | const Eigen::Ref<const VectorXs>& x) override; | ||
| 176 | |||
| 177 | /** | ||
| 178 | * @brief Create the contact CoP residual data | ||
| 179 | * | ||
| 180 | * Each residual model has its own data that needs to be allocated. | ||
| 181 | * This function returns the allocated data for a predefined residual. | ||
| 182 | * | ||
| 183 | * @param[in] data Shared data (it should be of type | ||
| 184 | * `DataCollectorContactTpl`) | ||
| 185 | * @return the residual data. | ||
| 186 | */ | ||
| 187 | virtual std::shared_ptr<ResidualDataAbstract> createData( | ||
| 188 | DataCollectorAbstract* const data) override; | ||
| 189 | |||
| 190 | /** | ||
| 191 | * @brief Update the Jacobians of the contact friction cone residual | ||
| 192 | * | ||
| 193 | * @param[in] data Contact friction cone residual data | ||
| 194 | */ | ||
| 195 | void updateJacobians(const std::shared_ptr<ResidualDataAbstract>& data); | ||
| 196 | |||
| 197 | /** | ||
| 198 | * @brief Cast the contact-cop-position residual model to a different scalar | ||
| 199 | * type. | ||
| 200 | * | ||
| 201 | * It is useful for operations requiring different precision or scalar types. | ||
| 202 | * | ||
| 203 | * @tparam NewScalar The new scalar type to cast to. | ||
| 204 | * @return ResidualModelContactCoPPositionTpl<NewScalar> A residual model with | ||
| 205 | * the new scalar type. | ||
| 206 | */ | ||
| 207 | template <typename NewScalar> | ||
| 208 | ResidualModelContactCoPPositionTpl<NewScalar> cast() const; | ||
| 209 | |||
| 210 | /** | ||
| 211 | * @brief Indicates if we are using the forward-dynamics (true) or | ||
| 212 | * inverse-dynamics (false) | ||
| 213 | */ | ||
| 214 | bool is_fwddyn() const; | ||
| 215 | |||
| 216 | /** | ||
| 217 | * @brief Return the reference frame id | ||
| 218 | */ | ||
| 219 | pinocchio::FrameIndex get_id() const; | ||
| 220 | |||
| 221 | /** | ||
| 222 | * @brief Return the reference support region of CoP | ||
| 223 | */ | ||
| 224 | const CoPSupport& get_reference() const; | ||
| 225 | |||
| 226 | /** | ||
| 227 | * @brief Modify the reference frame id | ||
| 228 | */ | ||
| 229 | DEPRECATED("Do not use set_id, instead create a new model", | ||
| 230 | void set_id(pinocchio::FrameIndex id);) | ||
| 231 | |||
| 232 | /** | ||
| 233 | * @brief Modify the reference support region of CoP | ||
| 234 | */ | ||
| 235 | void set_reference(const CoPSupport& reference); | ||
| 236 | |||
| 237 | /** | ||
| 238 | * @brief Print relevant information of the cop-position residual | ||
| 239 | * | ||
| 240 | * @param[out] os Output stream object | ||
| 241 | */ | ||
| 242 | virtual void print(std::ostream& os) const override; | ||
| 243 | |||
| 244 | protected: | ||
| 245 | using Base::nu_; | ||
| 246 | using Base::state_; | ||
| 247 | |||
| 248 | private: | ||
| 249 | bool fwddyn_; //!< Indicates if we are using this function for forward | ||
| 250 | //!< dynamics | ||
| 251 | bool update_jacobians_; //!< Indicates if we need to update the Jacobians | ||
| 252 | //!< (used for inverse dynamics case) | ||
| 253 | pinocchio::FrameIndex id_; //!< Reference frame id | ||
| 254 | CoPSupport cref_; //!< Reference support region of CoP | ||
| 255 | }; | ||
| 256 | |||
| 257 | template <typename _Scalar> | ||
| 258 | struct ResidualDataContactCoPPositionTpl | ||
| 259 | : public ResidualDataAbstractTpl<_Scalar> { | ||
| 260 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 261 | |||
| 262 | typedef _Scalar Scalar; | ||
| 263 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 264 | typedef ResidualDataAbstractTpl<Scalar> Base; | ||
| 265 | typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; | ||
| 266 | typedef StateMultibodyTpl<Scalar> StateMultibody; | ||
| 267 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 268 | |||
| 269 | template <template <typename Scalar> class Model> | ||
| 270 | 3420 | ResidualDataContactCoPPositionTpl(Model<Scalar>* const model, | |
| 271 | DataCollectorAbstract* const data) | ||
| 272 | 3420 | : Base(model, data) { | |
| 273 | // Check that proper shared data has been passed | ||
| 274 | 3420 | bool is_contact = true; | |
| 275 | 3420 | DataCollectorContactTpl<Scalar>* d1 = | |
| 276 |
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3420 | dynamic_cast<DataCollectorContactTpl<Scalar>*>(shared); |
| 277 | 3420 | DataCollectorImpulseTpl<Scalar>* d2 = | |
| 278 |
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3420 | dynamic_cast<DataCollectorImpulseTpl<Scalar>*>(shared); |
| 279 |
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3420 | if (d1 == NULL && d2 == NULL) { |
| 280 | ✗ | throw_pretty( | |
| 281 | "Invalid argument: the shared data should be derived from " | ||
| 282 | "DataCollectorContact or DataCollectorImpulse"); | ||
| 283 | } | ||
| 284 |
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3420 | if (d2 != NULL) { |
| 285 | 1692 | is_contact = false; | |
| 286 | } | ||
| 287 | |||
| 288 | // Avoids data casting at runtime | ||
| 289 |
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3420 | const pinocchio::FrameIndex id = model->get_id(); |
| 290 |
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3420 | const std::shared_ptr<StateMultibody>& state = |
| 291 | std::static_pointer_cast<StateMultibody>(model->get_state()); | ||
| 292 |
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3420 | std::string frame_name = state->get_pinocchio()->frames[id].name; |
| 293 | 3420 | bool found_contact = false; | |
| 294 |
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3420 | if (is_contact) { |
| 295 | 1728 | for (typename ContactModelMultipleTpl< | |
| 296 | Scalar>::ContactDataContainer::iterator it = | ||
| 297 | 1728 | d1->contacts->contacts.begin(); | |
| 298 |
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2590 | it != d1->contacts->contacts.end(); ++it) { |
| 299 |
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2590 | if (it->second->frame == id) { |
| 300 | 1728 | ContactData3DTpl<Scalar>* d3d = | |
| 301 |
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1728 | dynamic_cast<ContactData3DTpl<Scalar>*>(it->second.get()); |
| 302 |
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1728 | if (d3d != NULL) { |
| 303 | ✗ | found_contact = true; | |
| 304 | ✗ | contact = it->second; | |
| 305 | ✗ | throw_pretty( | |
| 306 | "Domain error: there isn't defined at least a 6d contact for " + | ||
| 307 | frame_name); | ||
| 308 | break; | ||
| 309 | } | ||
| 310 | 1728 | ContactData6DTpl<Scalar>* d6d = | |
| 311 |
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1728 | dynamic_cast<ContactData6DTpl<Scalar>*>(it->second.get()); |
| 312 |
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1728 | if (d6d != NULL) { |
| 313 | 1728 | found_contact = true; | |
| 314 | 1728 | contact = it->second; | |
| 315 | 1728 | break; | |
| 316 | } | ||
| 317 | ✗ | throw_pretty( | |
| 318 | "Domain error: there isn't defined at least a 6d contact for " + | ||
| 319 | frame_name); | ||
| 320 | break; | ||
| 321 | } | ||
| 322 | } | ||
| 323 | } else { | ||
| 324 | 1692 | for (typename ImpulseModelMultipleTpl< | |
| 325 | Scalar>::ImpulseDataContainer::iterator it = | ||
| 326 | 1692 | d2->impulses->impulses.begin(); | |
| 327 |
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2772 | it != d2->impulses->impulses.end(); ++it) { |
| 328 |
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2772 | if (it->second->frame == id) { |
| 329 | 1692 | ImpulseData3DTpl<Scalar>* d3d = | |
| 330 |
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1692 | dynamic_cast<ImpulseData3DTpl<Scalar>*>(it->second.get()); |
| 331 |
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1692 | 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 | 1692 | ImpulseData6DTpl<Scalar>* d6d = | |
| 340 |
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1692 | dynamic_cast<ImpulseData6DTpl<Scalar>*>(it->second.get()); |
| 341 |
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1692 | if (d6d != NULL) { |
| 342 | 1692 | found_contact = true; | |
| 343 | 1692 | contact = it->second; | |
| 344 | 1692 | 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 |
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3420 | if (!found_contact) { |
| 354 | ✗ | throw_pretty("Domain error: there isn't defined contact data for " + | |
| 355 | frame_name); | ||
| 356 | } | ||
| 357 | 3420 | } | |
| 358 | 6836 | 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 |