| 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 | #include "crocoddyl/multibody/residuals/contact-friction-cone.hpp" | ||
| 11 | |||
| 12 | namespace crocoddyl { | ||
| 13 | |||
| 14 | template <typename Scalar> | ||
| 15 | ✗ | ResidualModelContactFrictionConeTpl<Scalar>:: | |
| 16 | ResidualModelContactFrictionConeTpl(std::shared_ptr<StateMultibody> state, | ||
| 17 | const pinocchio::FrameIndex id, | ||
| 18 | const FrictionCone& fref, | ||
| 19 | const std::size_t nu, const bool fwddyn) | ||
| 20 | ✗ | : Base(state, fref.get_nf() + 1, nu, fwddyn ? true : false, | |
| 21 | fwddyn ? true : false, true), | ||
| 22 | ✗ | fwddyn_(fwddyn), | |
| 23 | ✗ | update_jacobians_(true), | |
| 24 | ✗ | id_(id), | |
| 25 | ✗ | fref_(fref) { | |
| 26 | ✗ | if (static_cast<pinocchio::FrameIndex>(state->get_pinocchio()->nframes) <= | |
| 27 | id) { | ||
| 28 | ✗ | throw_pretty( | |
| 29 | "Invalid argument: " | ||
| 30 | << "the frame index is wrong (it does not exist in the robot)"); | ||
| 31 | } | ||
| 32 | ✗ | } | |
| 33 | |||
| 34 | template <typename Scalar> | ||
| 35 | ✗ | ResidualModelContactFrictionConeTpl<Scalar>:: | |
| 36 | ResidualModelContactFrictionConeTpl(std::shared_ptr<StateMultibody> state, | ||
| 37 | const pinocchio::FrameIndex id, | ||
| 38 | const FrictionCone& fref) | ||
| 39 | ✗ | : Base(state, fref.get_nf() + 1), | |
| 40 | ✗ | fwddyn_(true), | |
| 41 | ✗ | update_jacobians_(true), | |
| 42 | ✗ | id_(id), | |
| 43 | ✗ | fref_(fref) { | |
| 44 | ✗ | if (static_cast<pinocchio::FrameIndex>(state->get_pinocchio()->nframes) <= | |
| 45 | id) { | ||
| 46 | ✗ | throw_pretty( | |
| 47 | "Invalid argument: " | ||
| 48 | << "the frame index is wrong (it does not exist in the robot)"); | ||
| 49 | } | ||
| 50 | ✗ | } | |
| 51 | |||
| 52 | template <typename Scalar> | ||
| 53 | ✗ | void ResidualModelContactFrictionConeTpl<Scalar>::calc( | |
| 54 | const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 55 | const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) { | ||
| 56 | ✗ | Data* d = static_cast<Data*>(data.get()); | |
| 57 | |||
| 58 | // Compute the residual of the friction cone. Note that we need to transform | ||
| 59 | // the force to the contact frame | ||
| 60 | ✗ | data->r.noalias() = fref_.get_A() * d->contact->f.linear(); | |
| 61 | ✗ | } | |
| 62 | |||
| 63 | template <typename Scalar> | ||
| 64 | ✗ | void ResidualModelContactFrictionConeTpl<Scalar>::calc( | |
| 65 | const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 66 | const Eigen::Ref<const VectorXs>&) { | ||
| 67 | ✗ | data->r.setZero(); | |
| 68 | ✗ | } | |
| 69 | |||
| 70 | template <typename Scalar> | ||
| 71 | ✗ | void ResidualModelContactFrictionConeTpl<Scalar>::calcDiff( | |
| 72 | const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 73 | const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) { | ||
| 74 | ✗ | if (fwddyn_ || update_jacobians_) { | |
| 75 | ✗ | updateJacobians(data); | |
| 76 | } | ||
| 77 | ✗ | } | |
| 78 | |||
| 79 | template <typename Scalar> | ||
| 80 | ✗ | void ResidualModelContactFrictionConeTpl<Scalar>::calcDiff( | |
| 81 | const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 82 | const Eigen::Ref<const VectorXs>&) { | ||
| 83 | ✗ | data->Rx.setZero(); | |
| 84 | ✗ | } | |
| 85 | |||
| 86 | template <typename Scalar> | ||
| 87 | std::shared_ptr<ResidualDataAbstractTpl<Scalar> > | ||
| 88 | ✗ | ResidualModelContactFrictionConeTpl<Scalar>::createData( | |
| 89 | DataCollectorAbstract* const data) { | ||
| 90 | ✗ | std::shared_ptr<ResidualDataAbstract> d = | |
| 91 | ✗ | std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this, data); | |
| 92 | ✗ | if (!fwddyn_) { | |
| 93 | ✗ | updateJacobians(d); | |
| 94 | } | ||
| 95 | ✗ | return d; | |
| 96 | ✗ | } | |
| 97 | |||
| 98 | template <typename Scalar> | ||
| 99 | ✗ | void ResidualModelContactFrictionConeTpl<Scalar>::updateJacobians( | |
| 100 | const std::shared_ptr<ResidualDataAbstract>& data) { | ||
| 101 | ✗ | Data* d = static_cast<Data*>(data.get()); | |
| 102 | |||
| 103 | ✗ | const MatrixXs& df_dx = d->contact->df_dx; | |
| 104 | ✗ | const MatrixXs& df_du = d->contact->df_du; | |
| 105 | ✗ | const MatrixX3s& A = fref_.get_A(); | |
| 106 | ✗ | switch (d->contact_type) { | |
| 107 | ✗ | case Contact2D: { | |
| 108 | // Valid for xz plane | ||
| 109 | ✗ | data->Rx.noalias() = A.col(0) * df_dx.row(0) + A.col(2) * df_dx.row(1); | |
| 110 | ✗ | data->Ru.noalias() = A.col(0) * df_du.row(0) + A.col(2) * df_du.row(1); | |
| 111 | ✗ | break; | |
| 112 | } | ||
| 113 | ✗ | case Contact3D: | |
| 114 | ✗ | data->Rx.noalias() = A * df_dx; | |
| 115 | ✗ | data->Ru.noalias() = A * df_du; | |
| 116 | ✗ | break; | |
| 117 | ✗ | case Contact6D: | |
| 118 | ✗ | data->Rx.noalias() = A * df_dx.template topRows<3>(); | |
| 119 | ✗ | data->Ru.noalias() = A * df_du.template topRows<3>(); | |
| 120 | ✗ | break; | |
| 121 | ✗ | default: | |
| 122 | ✗ | break; | |
| 123 | } | ||
| 124 | ✗ | update_jacobians_ = false; | |
| 125 | ✗ | } | |
| 126 | |||
| 127 | template <typename Scalar> | ||
| 128 | template <typename NewScalar> | ||
| 129 | ResidualModelContactFrictionConeTpl<NewScalar> | ||
| 130 | ✗ | ResidualModelContactFrictionConeTpl<Scalar>::cast() const { | |
| 131 | typedef ResidualModelContactFrictionConeTpl<NewScalar> ReturnType; | ||
| 132 | typedef StateMultibodyTpl<NewScalar> StateType; | ||
| 133 | ✗ | ReturnType ret( | |
| 134 | ✗ | std::static_pointer_cast<StateType>(state_->template cast<NewScalar>()), | |
| 135 | ✗ | id_, fref_.template cast<NewScalar>(), nu_, fwddyn_); | |
| 136 | ✗ | return ret; | |
| 137 | } | ||
| 138 | |||
| 139 | template <typename Scalar> | ||
| 140 | ✗ | void ResidualModelContactFrictionConeTpl<Scalar>::print( | |
| 141 | std::ostream& os) const { | ||
| 142 | ✗ | std::shared_ptr<StateMultibody> s = | |
| 143 | ✗ | std::static_pointer_cast<StateMultibody>(state_); | |
| 144 | os << "ResidualModelContactFrictionCone {frame=" | ||
| 145 | ✗ | << s->get_pinocchio()->frames[id_].name << ", mu=" << fref_.get_mu() | |
| 146 | ✗ | << "}"; | |
| 147 | ✗ | } | |
| 148 | |||
| 149 | template <typename Scalar> | ||
| 150 | ✗ | bool ResidualModelContactFrictionConeTpl<Scalar>::is_fwddyn() const { | |
| 151 | ✗ | return fwddyn_; | |
| 152 | } | ||
| 153 | |||
| 154 | template <typename Scalar> | ||
| 155 | ✗ | pinocchio::FrameIndex ResidualModelContactFrictionConeTpl<Scalar>::get_id() | |
| 156 | const { | ||
| 157 | ✗ | return id_; | |
| 158 | } | ||
| 159 | |||
| 160 | template <typename Scalar> | ||
| 161 | const FrictionConeTpl<Scalar>& | ||
| 162 | ✗ | ResidualModelContactFrictionConeTpl<Scalar>::get_reference() const { | |
| 163 | ✗ | return fref_; | |
| 164 | } | ||
| 165 | |||
| 166 | template <typename Scalar> | ||
| 167 | ✗ | void ResidualModelContactFrictionConeTpl<Scalar>::set_id( | |
| 168 | const pinocchio::FrameIndex id) { | ||
| 169 | ✗ | id_ = id; | |
| 170 | ✗ | } | |
| 171 | |||
| 172 | template <typename Scalar> | ||
| 173 | ✗ | void ResidualModelContactFrictionConeTpl<Scalar>::set_reference( | |
| 174 | const FrictionCone& reference) { | ||
| 175 | ✗ | fref_ = reference; | |
| 176 | ✗ | update_jacobians_ = true; | |
| 177 | ✗ | } | |
| 178 | |||
| 179 | } // namespace crocoddyl | ||
| 180 |