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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, CTU, INRIA, |
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// University of Oxford, 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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DifferentialActionModelContactFwdDynamicsTpl<Scalar>:: |
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DifferentialActionModelContactFwdDynamicsTpl( |
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std::shared_ptr<StateMultibody> state, |
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std::shared_ptr<ActuationModelAbstract> actuation, |
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std::shared_ptr<ContactModelMultiple> contacts, |
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std::shared_ptr<CostModelSum> costs, const Scalar JMinvJt_damping, |
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const bool enable_force) |
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: Base(state, actuation->get_nu(), costs->get_nr(), 0, 0), |
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actuation_(actuation), |
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contacts_(contacts), |
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costs_(costs), |
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constraints_(nullptr), |
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pinocchio_(state->get_pinocchio().get()), |
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with_armature_(true), |
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armature_(VectorXs::Zero(state->get_nv())), |
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JMinvJt_damping_(fabs(JMinvJt_damping)), |
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enable_force_(enable_force) { |
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init(); |
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} |
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template <typename Scalar> |
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DifferentialActionModelContactFwdDynamicsTpl<Scalar>:: |
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DifferentialActionModelContactFwdDynamicsTpl( |
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std::shared_ptr<StateMultibody> state, |
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std::shared_ptr<ActuationModelAbstract> actuation, |
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std::shared_ptr<ContactModelMultiple> contacts, |
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std::shared_ptr<CostModelSum> costs, |
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std::shared_ptr<ConstraintModelManager> constraints, |
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const Scalar JMinvJt_damping, const bool enable_force) |
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: Base(state, actuation->get_nu(), costs->get_nr(), constraints->get_ng(), |
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constraints->get_nh(), constraints->get_ng_T(), |
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constraints->get_nh_T()), |
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actuation_(actuation), |
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contacts_(contacts), |
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costs_(costs), |
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constraints_(constraints), |
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pinocchio_(state->get_pinocchio().get()), |
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with_armature_(true), |
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armature_(VectorXs::Zero(state->get_nv())), |
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JMinvJt_damping_(fabs(JMinvJt_damping)), |
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enable_force_(enable_force) { |
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init(); |
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} |
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template <typename Scalar> |
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void DifferentialActionModelContactFwdDynamicsTpl<Scalar>::init() { |
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if (JMinvJt_damping_ < Scalar(0.)) { |
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JMinvJt_damping_ = Scalar(0.); |
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throw_pretty("Invalid argument: " |
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<< "The damping factor has to be positive, set to 0"); |
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} |
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if (contacts_->get_nu() != nu_) { |
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throw_pretty( |
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"Invalid argument: " |
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<< "Contacts doesn't have the same control dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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if (costs_->get_nu() != nu_) { |
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throw_pretty( |
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"Invalid argument: " |
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<< "Costs doesn't have the same control dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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Base::set_u_lb(Scalar(-1.) * pinocchio_->effortLimit.tail(nu_)); |
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Base::set_u_ub(Scalar(+1.) * pinocchio_->effortLimit.tail(nu_)); |
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} |
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template <typename Scalar> |
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void DifferentialActionModelContactFwdDynamicsTpl<Scalar>::calc( |
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const std::shared_ptr<DifferentialActionDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x, const Eigen::Ref<const VectorXs>& u) { |
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if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
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throw_pretty( |
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"Invalid argument: " << "x has wrong dimension (it should be " + |
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std::to_string(state_->get_nx()) + ")"); |
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} |
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if (static_cast<std::size_t>(u.size()) != nu_) { |
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throw_pretty( |
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"Invalid argument: " << "u has wrong dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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const std::size_t nc = contacts_->get_nc(); |
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Data* d = static_cast<Data*>(data.get()); |
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const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> q = |
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x.head(state_->get_nq()); |
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const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> v = |
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x.tail(state_->get_nv()); |
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// Computing the forward dynamics with the holonomic constraints defined by |
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// the contact model |
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pinocchio::computeAllTerms(*pinocchio_, d->pinocchio, q, v); |
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pinocchio::computeCentroidalMomentum(*pinocchio_, d->pinocchio); |
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if (!with_armature_) { |
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d->pinocchio.M.diagonal() += armature_; |
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} |
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actuation_->calc(d->multibody.actuation, x, u); |
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contacts_->calc(d->multibody.contacts, x); |
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#ifndef NDEBUG |
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Eigen::FullPivLU<MatrixXs> Jc_lu(d->multibody.contacts->Jc.topRows(nc)); |
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if (Jc_lu.rank() < d->multibody.contacts->Jc.topRows(nc).rows() && |
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JMinvJt_damping_ == Scalar(0.)) { |
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throw_pretty( |
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"A damping factor is needed as the contact Jacobian is not full-rank"); |
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} |
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#endif |
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pinocchio::forwardDynamics( |
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*pinocchio_, d->pinocchio, d->multibody.actuation->tau, |
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d->multibody.contacts->Jc.topRows(nc), d->multibody.contacts->a0.head(nc), |
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JMinvJt_damping_); |
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d->xout = d->pinocchio.ddq; |
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contacts_->updateAcceleration(d->multibody.contacts, d->pinocchio.ddq); |
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contacts_->updateForce(d->multibody.contacts, d->pinocchio.lambda_c); |
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d->multibody.joint->a = d->pinocchio.ddq; |
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d->multibody.joint->tau = u; |
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costs_->calc(d->costs, x, u); |
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d->cost = d->costs->cost; |
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if (constraints_ != nullptr) { |
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d->constraints->resize(this, d); |
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constraints_->calc(d->constraints, x, u); |
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} |
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} |
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template <typename Scalar> |
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void DifferentialActionModelContactFwdDynamicsTpl<Scalar>::calc( |
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const std::shared_ptr<DifferentialActionDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x) { |
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if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
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throw_pretty( |
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"Invalid argument: " << "x has wrong dimension (it should be " + |
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std::to_string(state_->get_nx()) + ")"); |
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} |
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Data* d = static_cast<Data*>(data.get()); |
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const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> q = |
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x.head(state_->get_nq()); |
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const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> v = |
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x.tail(state_->get_nv()); |
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pinocchio::computeAllTerms(*pinocchio_, d->pinocchio, q, v); |
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pinocchio::computeCentroidalMomentum(*pinocchio_, d->pinocchio); |
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costs_->calc(d->costs, x); |
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d->cost = d->costs->cost; |
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if (constraints_ != nullptr) { |
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d->constraints->resize(this, d, false); |
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constraints_->calc(d->constraints, x); |
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} |
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} |
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template <typename Scalar> |
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void DifferentialActionModelContactFwdDynamicsTpl<Scalar>::calcDiff( |
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const std::shared_ptr<DifferentialActionDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x, const Eigen::Ref<const VectorXs>& u) { |
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if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
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throw_pretty( |
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"Invalid argument: " << "x has wrong dimension (it should be " + |
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std::to_string(state_->get_nx()) + ")"); |
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} |
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if (static_cast<std::size_t>(u.size()) != nu_) { |
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throw_pretty( |
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"Invalid argument: " << "u has wrong dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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const std::size_t nv = state_->get_nv(); |
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const std::size_t nc = contacts_->get_nc(); |
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const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> q = |
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x.head(state_->get_nq()); |
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const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> v = |
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x.tail(nv); |
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Data* d = static_cast<Data*>(data.get()); |
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// Computing the dynamics derivatives |
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// We resize the Kinv matrix because Eigen cannot call block operations |
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// recursively: https://eigen.tuxfamily.org/bz/show_bug.cgi?id=408. Therefore, |
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// it is not possible to pass d->Kinv.topLeftCorner(nv + nc, nv + nc) |
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d->Kinv.resize(nv + nc, nv + nc); |
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pinocchio::computeRNEADerivatives(*pinocchio_, d->pinocchio, q, v, d->xout, |
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d->multibody.contacts->fext); |
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contacts_->updateRneaDiff(d->multibody.contacts, d->pinocchio); |
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pinocchio::getKKTContactDynamicMatrixInverse( |
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*pinocchio_, d->pinocchio, d->multibody.contacts->Jc.topRows(nc), |
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d->Kinv); |
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actuation_->calcDiff(d->multibody.actuation, x, u); |
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contacts_->calcDiff(d->multibody.contacts, x); |
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const Eigen::Block<MatrixXs> a_partial_dtau = d->Kinv.topLeftCorner(nv, nv); |
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const Eigen::Block<MatrixXs> a_partial_da = d->Kinv.topRightCorner(nv, nc); |
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const Eigen::Block<MatrixXs> f_partial_dtau = |
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d->Kinv.bottomLeftCorner(nc, nv); |
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const Eigen::Block<MatrixXs> f_partial_da = d->Kinv.bottomRightCorner(nc, nc); |
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d->Fx.leftCols(nv).noalias() = -a_partial_dtau * d->pinocchio.dtau_dq; |
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d->Fx.rightCols(nv).noalias() = -a_partial_dtau * d->pinocchio.dtau_dv; |
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d->Fx.noalias() -= a_partial_da * d->multibody.contacts->da0_dx.topRows(nc); |
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d->Fx.noalias() += a_partial_dtau * d->multibody.actuation->dtau_dx; |
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d->Fu.noalias() = a_partial_dtau * d->multibody.actuation->dtau_du; |
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d->multibody.joint->da_dx = d->Fx; |
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d->multibody.joint->da_du = d->Fu; |
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// Computing the cost derivatives |
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if (enable_force_) { |
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d->df_dx.topLeftCorner(nc, nv).noalias() = |
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f_partial_dtau * d->pinocchio.dtau_dq; |
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d->df_dx.topRightCorner(nc, nv).noalias() = |
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f_partial_dtau * d->pinocchio.dtau_dv; |
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d->df_dx.topRows(nc).noalias() += |
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f_partial_da * d->multibody.contacts->da0_dx.topRows(nc); |
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d->df_dx.topRows(nc).noalias() -= |
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f_partial_dtau * d->multibody.actuation->dtau_dx; |
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d->df_du.topRows(nc).noalias() = |
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-f_partial_dtau * d->multibody.actuation->dtau_du; |
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contacts_->updateAccelerationDiff(d->multibody.contacts, |
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d->Fx.bottomRows(nv)); |
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contacts_->updateForceDiff(d->multibody.contacts, d->df_dx.topRows(nc), |
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d->df_du.topRows(nc)); |
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} |
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costs_->calcDiff(d->costs, x, u); |
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if (constraints_ != nullptr) { |
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constraints_->calcDiff(d->constraints, x, u); |
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} |
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} |
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template <typename Scalar> |
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void DifferentialActionModelContactFwdDynamicsTpl<Scalar>::calcDiff( |
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const std::shared_ptr<DifferentialActionDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x) { |
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if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
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throw_pretty( |
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"Invalid argument: " << "x has wrong dimension (it should be " + |
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std::to_string(state_->get_nx()) + ")"); |
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} |
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Data* d = static_cast<Data*>(data.get()); |
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costs_->calcDiff(d->costs, x); |
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if (constraints_ != nullptr) { |
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constraints_->calcDiff(d->constraints, x); |
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} |
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} |
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template <typename Scalar> |
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std::shared_ptr<DifferentialActionDataAbstractTpl<Scalar> > |
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DifferentialActionModelContactFwdDynamicsTpl<Scalar>::createData() { |
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return std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this); |
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} |
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template <typename Scalar> |
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template <typename NewScalar> |
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DifferentialActionModelContactFwdDynamicsTpl<NewScalar> |
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✗ |
DifferentialActionModelContactFwdDynamicsTpl<Scalar>::cast() const { |
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typedef DifferentialActionModelContactFwdDynamicsTpl<NewScalar> ReturnType; |
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typedef StateMultibodyTpl<NewScalar> StateType; |
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typedef ContactModelMultipleTpl<NewScalar> ContactType; |
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typedef CostModelSumTpl<NewScalar> CostType; |
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typedef ConstraintModelManagerTpl<NewScalar> ConstraintType; |
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✗ |
if (constraints_) { |
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ReturnType ret( |
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std::static_pointer_cast<StateType>(state_->template cast<NewScalar>()), |
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actuation_->template cast<NewScalar>(), |
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std::make_shared<ContactType>(contacts_->template cast<NewScalar>()), |
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std::make_shared<CostType>(costs_->template cast<NewScalar>()), |
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std::make_shared<ConstraintType>( |
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✗ |
constraints_->template cast<NewScalar>()), |
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scalar_cast<NewScalar>(JMinvJt_damping_), enable_force_); |
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✗ |
return ret; |
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✗ |
} else { |
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ReturnType ret( |
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std::static_pointer_cast<StateType>(state_->template cast<NewScalar>()), |
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actuation_->template cast<NewScalar>(), |
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std::make_shared<ContactType>(contacts_->template cast<NewScalar>()), |
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std::make_shared<CostType>(costs_->template cast<NewScalar>()), |
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scalar_cast<NewScalar>(JMinvJt_damping_), enable_force_); |
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✗ |
return ret; |
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} |
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} |
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template <typename Scalar> |
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✗ |
void DifferentialActionModelContactFwdDynamicsTpl<Scalar>::quasiStatic( |
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const std::shared_ptr<DifferentialActionDataAbstract>& data, |
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|
|
Eigen::Ref<VectorXs> u, const Eigen::Ref<const VectorXs>& x, std::size_t, |
| 299 |
|
|
Scalar) { |
| 300 |
|
✗ |
if (static_cast<std::size_t>(u.size()) != nu_) { |
| 301 |
|
✗ |
throw_pretty( |
| 302 |
|
|
"Invalid argument: " << "u has wrong dimension (it should be " + |
| 303 |
|
|
std::to_string(nu_) + ")"); |
| 304 |
|
|
} |
| 305 |
|
✗ |
if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
| 306 |
|
✗ |
throw_pretty( |
| 307 |
|
|
"Invalid argument: " << "x has wrong dimension (it should be " + |
| 308 |
|
|
std::to_string(state_->get_nx()) + ")"); |
| 309 |
|
|
} |
| 310 |
|
|
// Static casting the data |
| 311 |
|
|
DifferentialActionDataContactFwdDynamicsTpl<Scalar>* d = |
| 312 |
|
|
static_cast<DifferentialActionDataContactFwdDynamicsTpl<Scalar>*>( |
| 313 |
|
✗ |
data.get()); |
| 314 |
|
|
const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> q = |
| 315 |
|
✗ |
x.head(state_->get_nq()); |
| 316 |
|
|
|
| 317 |
|
✗ |
const std::size_t nq = state_->get_nq(); |
| 318 |
|
✗ |
const std::size_t nv = state_->get_nv(); |
| 319 |
|
✗ |
const std::size_t nc = contacts_->get_nc(); |
| 320 |
|
|
|
| 321 |
|
✗ |
d->tmp_xstatic.head(nq) = q; |
| 322 |
|
✗ |
d->tmp_xstatic.tail(nv).setZero(); |
| 323 |
|
✗ |
u.setZero(); |
| 324 |
|
|
|
| 325 |
|
✗ |
pinocchio::computeAllTerms(*pinocchio_, d->pinocchio, q, |
| 326 |
|
✗ |
d->tmp_xstatic.tail(nv)); |
| 327 |
|
✗ |
pinocchio::computeJointJacobians(*pinocchio_, d->pinocchio, q); |
| 328 |
|
✗ |
pinocchio::rnea(*pinocchio_, d->pinocchio, q, d->tmp_xstatic.tail(nv), |
| 329 |
|
✗ |
d->tmp_xstatic.tail(nv)); |
| 330 |
|
✗ |
actuation_->calc(d->multibody.actuation, d->tmp_xstatic, u); |
| 331 |
|
✗ |
actuation_->calcDiff(d->multibody.actuation, d->tmp_xstatic, u); |
| 332 |
|
✗ |
contacts_->calc(d->multibody.contacts, d->tmp_xstatic); |
| 333 |
|
|
|
| 334 |
|
|
// Allocates memory |
| 335 |
|
✗ |
d->tmp_Jstatic.conservativeResize(nv, nu_ + nc); |
| 336 |
|
✗ |
d->tmp_Jstatic.leftCols(nu_) = d->multibody.actuation->dtau_du; |
| 337 |
|
✗ |
d->tmp_Jstatic.rightCols(nc) = |
| 338 |
|
✗ |
d->multibody.contacts->Jc.topRows(nc).transpose(); |
| 339 |
|
✗ |
u.noalias() = (pseudoInverse(d->tmp_Jstatic) * d->pinocchio.tau).head(nu_); |
| 340 |
|
✗ |
d->pinocchio.tau.setZero(); |
| 341 |
|
|
} |
| 342 |
|
|
|
| 343 |
|
|
template <typename Scalar> |
| 344 |
|
✗ |
bool DifferentialActionModelContactFwdDynamicsTpl<Scalar>::checkData( |
| 345 |
|
|
const std::shared_ptr<DifferentialActionDataAbstract>& data) { |
| 346 |
|
✗ |
std::shared_ptr<Data> d = std::dynamic_pointer_cast<Data>(data); |
| 347 |
|
✗ |
if (d != NULL) { |
| 348 |
|
✗ |
return true; |
| 349 |
|
|
} else { |
| 350 |
|
✗ |
return false; |
| 351 |
|
|
} |
| 352 |
|
|
} |
| 353 |
|
|
|
| 354 |
|
|
template <typename Scalar> |
| 355 |
|
✗ |
void DifferentialActionModelContactFwdDynamicsTpl<Scalar>::print( |
| 356 |
|
|
std::ostream& os) const { |
| 357 |
|
✗ |
os << "DifferentialActionModelContactFwdDynamics {nx=" << state_->get_nx() |
| 358 |
|
✗ |
<< ", ndx=" << state_->get_ndx() << ", nu=" << nu_ |
| 359 |
|
✗ |
<< ", nc=" << contacts_->get_nc() << "}"; |
| 360 |
|
|
} |
| 361 |
|
|
|
| 362 |
|
|
template <typename Scalar> |
| 363 |
|
✗ |
std::size_t DifferentialActionModelContactFwdDynamicsTpl<Scalar>::get_ng() |
| 364 |
|
|
const { |
| 365 |
|
✗ |
if (constraints_ != nullptr) { |
| 366 |
|
✗ |
return constraints_->get_ng(); |
| 367 |
|
|
} else { |
| 368 |
|
✗ |
return Base::get_ng(); |
| 369 |
|
|
} |
| 370 |
|
|
} |
| 371 |
|
|
|
| 372 |
|
|
template <typename Scalar> |
| 373 |
|
✗ |
std::size_t DifferentialActionModelContactFwdDynamicsTpl<Scalar>::get_nh() |
| 374 |
|
|
const { |
| 375 |
|
✗ |
if (constraints_ != nullptr) { |
| 376 |
|
✗ |
return constraints_->get_nh(); |
| 377 |
|
|
} else { |
| 378 |
|
✗ |
return Base::get_nh(); |
| 379 |
|
|
} |
| 380 |
|
|
} |
| 381 |
|
|
|
| 382 |
|
|
template <typename Scalar> |
| 383 |
|
✗ |
std::size_t DifferentialActionModelContactFwdDynamicsTpl<Scalar>::get_ng_T() |
| 384 |
|
|
const { |
| 385 |
|
✗ |
if (constraints_ != nullptr) { |
| 386 |
|
✗ |
return constraints_->get_ng_T(); |
| 387 |
|
|
} else { |
| 388 |
|
✗ |
return Base::get_ng_T(); |
| 389 |
|
|
} |
| 390 |
|
|
} |
| 391 |
|
|
|
| 392 |
|
|
template <typename Scalar> |
| 393 |
|
✗ |
std::size_t DifferentialActionModelContactFwdDynamicsTpl<Scalar>::get_nh_T() |
| 394 |
|
|
const { |
| 395 |
|
✗ |
if (constraints_ != nullptr) { |
| 396 |
|
✗ |
return constraints_->get_nh_T(); |
| 397 |
|
|
} else { |
| 398 |
|
✗ |
return Base::get_nh_T(); |
| 399 |
|
|
} |
| 400 |
|
|
} |
| 401 |
|
|
|
| 402 |
|
|
template <typename Scalar> |
| 403 |
|
|
const typename MathBaseTpl<Scalar>::VectorXs& |
| 404 |
|
✗ |
DifferentialActionModelContactFwdDynamicsTpl<Scalar>::get_g_lb() const { |
| 405 |
|
✗ |
if (constraints_ != nullptr) { |
| 406 |
|
✗ |
return constraints_->get_lb(); |
| 407 |
|
|
} else { |
| 408 |
|
✗ |
return g_lb_; |
| 409 |
|
|
} |
| 410 |
|
|
} |
| 411 |
|
|
|
| 412 |
|
|
template <typename Scalar> |
| 413 |
|
|
const typename MathBaseTpl<Scalar>::VectorXs& |
| 414 |
|
✗ |
DifferentialActionModelContactFwdDynamicsTpl<Scalar>::get_g_ub() const { |
| 415 |
|
✗ |
if (constraints_ != nullptr) { |
| 416 |
|
✗ |
return constraints_->get_ub(); |
| 417 |
|
|
} else { |
| 418 |
|
✗ |
return g_lb_; |
| 419 |
|
|
} |
| 420 |
|
|
} |
| 421 |
|
|
|
| 422 |
|
|
template <typename Scalar> |
| 423 |
|
|
pinocchio::ModelTpl<Scalar>& |
| 424 |
|
✗ |
DifferentialActionModelContactFwdDynamicsTpl<Scalar>::get_pinocchio() const { |
| 425 |
|
✗ |
return *pinocchio_; |
| 426 |
|
|
} |
| 427 |
|
|
|
| 428 |
|
|
template <typename Scalar> |
| 429 |
|
|
const std::shared_ptr<ActuationModelAbstractTpl<Scalar> >& |
| 430 |
|
✗ |
DifferentialActionModelContactFwdDynamicsTpl<Scalar>::get_actuation() const { |
| 431 |
|
✗ |
return actuation_; |
| 432 |
|
|
} |
| 433 |
|
|
|
| 434 |
|
|
template <typename Scalar> |
| 435 |
|
|
const std::shared_ptr<ContactModelMultipleTpl<Scalar> >& |
| 436 |
|
✗ |
DifferentialActionModelContactFwdDynamicsTpl<Scalar>::get_contacts() const { |
| 437 |
|
✗ |
return contacts_; |
| 438 |
|
|
} |
| 439 |
|
|
|
| 440 |
|
|
template <typename Scalar> |
| 441 |
|
|
const std::shared_ptr<CostModelSumTpl<Scalar> >& |
| 442 |
|
✗ |
DifferentialActionModelContactFwdDynamicsTpl<Scalar>::get_costs() const { |
| 443 |
|
✗ |
return costs_; |
| 444 |
|
|
} |
| 445 |
|
|
|
| 446 |
|
|
template <typename Scalar> |
| 447 |
|
|
const std::shared_ptr<ConstraintModelManagerTpl<Scalar> >& |
| 448 |
|
✗ |
DifferentialActionModelContactFwdDynamicsTpl<Scalar>::get_constraints() const { |
| 449 |
|
✗ |
return constraints_; |
| 450 |
|
|
} |
| 451 |
|
|
|
| 452 |
|
|
template <typename Scalar> |
| 453 |
|
|
const typename MathBaseTpl<Scalar>::VectorXs& |
| 454 |
|
✗ |
DifferentialActionModelContactFwdDynamicsTpl<Scalar>::get_armature() const { |
| 455 |
|
✗ |
return armature_; |
| 456 |
|
|
} |
| 457 |
|
|
|
| 458 |
|
|
template <typename Scalar> |
| 459 |
|
✗ |
const Scalar DifferentialActionModelContactFwdDynamicsTpl< |
| 460 |
|
|
Scalar>::get_damping_factor() const { |
| 461 |
|
✗ |
return JMinvJt_damping_; |
| 462 |
|
|
} |
| 463 |
|
|
|
| 464 |
|
|
template <typename Scalar> |
| 465 |
|
✗ |
void DifferentialActionModelContactFwdDynamicsTpl<Scalar>::set_armature( |
| 466 |
|
|
const VectorXs& armature) { |
| 467 |
|
✗ |
if (static_cast<std::size_t>(armature.size()) != state_->get_nv()) { |
| 468 |
|
✗ |
throw_pretty("Invalid argument: " |
| 469 |
|
|
<< "The armature dimension is wrong (it should be " + |
| 470 |
|
|
std::to_string(state_->get_nv()) + ")"); |
| 471 |
|
|
} |
| 472 |
|
✗ |
armature_ = armature; |
| 473 |
|
✗ |
with_armature_ = false; |
| 474 |
|
|
} |
| 475 |
|
|
|
| 476 |
|
|
template <typename Scalar> |
| 477 |
|
✗ |
void DifferentialActionModelContactFwdDynamicsTpl<Scalar>::set_damping_factor( |
| 478 |
|
|
const Scalar damping) { |
| 479 |
|
✗ |
if (damping < 0.) { |
| 480 |
|
✗ |
throw_pretty( |
| 481 |
|
|
"Invalid argument: " << "The damping factor has to be positive"); |
| 482 |
|
|
} |
| 483 |
|
✗ |
JMinvJt_damping_ = damping; |
| 484 |
|
|
} |
| 485 |
|
|
|
| 486 |
|
|
} // namespace crocoddyl |
| 487 |
|
|
|