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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2021-2025, Heriot-Watt University, University of Edinburgh |
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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_ACTIONS_CONTACT_INVDYN_HPP_ |
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#define CROCODDYL_MULTIBODY_ACTIONS_CONTACT_INVDYN_HPP_ |
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#include "crocoddyl/core/actuation-base.hpp" |
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#include "crocoddyl/core/constraints/constraint-manager.hpp" |
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#include "crocoddyl/core/costs/cost-sum.hpp" |
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#include "crocoddyl/core/diff-action-base.hpp" |
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#include "crocoddyl/multibody/contacts/multiple-contacts.hpp" |
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#include "crocoddyl/multibody/data/contacts.hpp" |
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#include "crocoddyl/multibody/fwd.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 Differential action model for contact inverse dynamics in multibody |
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* systems. |
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* |
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* This class implements forward kinematic with holonomic contact constraints |
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* (defined at the acceleration level) and inverse-dynamics computation using |
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* the Recursive Newton Euler Algorithm (RNEA). The stack of cost and constraint |
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* functions are implemented in `CostModelSumTpl` and |
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* `ConstraintModelManagerTpl`, respectively. The acceleration and contact |
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* forces are decision variables defined as the control inputs, and the |
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* under-actuation and contact constraint are under the name `tau` and its frame |
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* name, thus the user is not allowed to use it. |
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* |
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* Additionally, it is important to note that `calcDiff()` computes the |
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* derivatives using the latest stored values by `calc()`. Thus, we need to |
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* first run `calc()`. |
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* |
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* \sa `DifferentialActionModelAbstractTpl`, `calc()`, `calcDiff()`, |
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* `createData()` |
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*/ |
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template <typename _Scalar> |
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class DifferentialActionModelContactInvDynamicsTpl |
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: public DifferentialActionModelAbstractTpl<_Scalar> { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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CROCODDYL_DERIVED_CAST(DifferentialActionModelBase, |
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DifferentialActionModelContactInvDynamicsTpl) |
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typedef _Scalar Scalar; |
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typedef DifferentialActionModelAbstractTpl<Scalar> Base; |
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typedef DifferentialActionDataContactInvDynamicsTpl<Scalar> Data; |
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typedef StateMultibodyTpl<Scalar> StateMultibody; |
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typedef ActuationModelAbstractTpl<Scalar> ActuationModelAbstract; |
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typedef CostModelSumTpl<Scalar> CostModelSum; |
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typedef ConstraintModelManagerTpl<Scalar> ConstraintModelManager; |
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typedef ContactModelMultipleTpl<Scalar> ContactModelMultiple; |
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typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; |
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typedef DifferentialActionDataAbstractTpl<Scalar> |
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DifferentialActionDataAbstract; |
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typedef ContactItemTpl<Scalar> ContactItem; |
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typedef MathBaseTpl<Scalar> MathBase; |
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typedef typename MathBase::VectorXs VectorXs; |
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typedef typename MathBase::MatrixXs MatrixXs; |
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/** |
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* @brief Initialize the contact inverse-dynamics action model |
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* |
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* It describes the kinematic evolution of the multibody system with contacts, |
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* and computes the needed torques using inverse-dynamics. |
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* |
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* @param[in] state State of the multibody system |
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* @param[in] actuation Actuation model |
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* @param[in] contacts Multiple contacts |
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* @param[in] costs Cost model |
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*/ |
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DifferentialActionModelContactInvDynamicsTpl( |
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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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/** |
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* @brief Initialize the contact inverse-dynamics action model |
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* |
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* @param[in] state State of the multibody system |
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* @param[in] actuation Actuation model |
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* @param[in] contacts Multiple contacts |
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* @param[in] costs Cost model |
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* @param[in] constraints Constraints model |
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*/ |
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DifferentialActionModelContactInvDynamicsTpl( |
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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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virtual ~DifferentialActionModelContactInvDynamicsTpl() = default; |
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/** |
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* @brief Compute the system acceleration, cost value and constraint residuals |
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* |
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* It extracts the acceleration value from control vector and also computes |
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* the cost and constraints. |
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* |
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* @param[in] data Contact inverse-dynamics 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<DifferentialActionDataAbstract>& 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 @copydoc Base::calc(const |
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* std::shared_ptr<DifferentialActionDataAbstract>& data, const |
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* Eigen::Ref<const VectorXs>& x) |
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*/ |
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virtual void calc(const std::shared_ptr<DifferentialActionDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x) override; |
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/** |
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* @brief Compute the derivatives of the dynamics, cost and constraint |
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* functions |
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* |
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* It computes the partial derivatives of the dynamical system and the cost |
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* and contraint functions. It assumes that `calc()` has been run first. This |
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* function builds a quadratic approximation of the time-continuous action |
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* model (i.e., dynamical system, cost and constraint functions). |
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* |
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* @param[in] data Contact inverse-dynamics 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( |
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const std::shared_ptr<DifferentialActionDataAbstract>& 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 @copydoc Base::calcDiff(const |
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* std::shared_ptr<DifferentialActionDataAbstract>& data, const |
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* Eigen::Ref<const VectorXs>& x) |
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*/ |
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virtual void calcDiff( |
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const std::shared_ptr<DifferentialActionDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x) override; |
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/** |
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* @brief Create the contact inverse-dynamics data |
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* |
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* @return contact inverse-dynamics data |
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*/ |
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virtual std::shared_ptr<DifferentialActionDataAbstract> createData() override; |
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/** |
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* @brief Cast the contact-invdyn model to a different scalar 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 DifferentialActionModelContactInvDynamicsTpl<NewScalar> A |
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* differential-action model with the new scalar type. |
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*/ |
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template <typename NewScalar> |
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DifferentialActionModelContactInvDynamicsTpl<NewScalar> cast() const; |
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/** |
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* @brief Checks that a specific data belongs to the contact inverse-dynamics |
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* model |
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*/ |
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virtual bool checkData( |
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const std::shared_ptr<DifferentialActionDataAbstract>& data) override; |
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/** |
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* @brief Computes the quasic static commands |
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* |
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* The quasic static commands are the ones produced for a reference posture as |
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* an equilibrium point with zero acceleration, i.e., for |
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* \f$\mathbf{f^q_x}\delta\mathbf{q}+\mathbf{f_u}\delta\mathbf{u}=\mathbf{0}\f$ |
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* |
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* @param[in] data Contact inverse-dynamics data |
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* @param[out] u Quasic-static commands |
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* @param[in] x State point (velocity has to be zero) |
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* @param[in] maxiter Maximum allowed number of iterations (default 100) |
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* @param[in] tol Tolerance (default 1e-9) |
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*/ |
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virtual void 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, |
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const std::size_t maxiter = 100, |
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const Scalar tol = Scalar(1e-9)) override; |
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/** |
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* @brief Return the number of inequality constraints |
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*/ |
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virtual std::size_t get_ng() const override; |
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/** |
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* @brief Return the number of equality constraints |
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*/ |
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virtual std::size_t get_nh() const override; |
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/** |
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* @brief Return the number of equality terminal constraints |
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*/ |
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virtual std::size_t get_ng_T() const override; |
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/** |
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* @brief Return the number of equality terminal constraints |
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*/ |
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virtual std::size_t get_nh_T() const override; |
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/** |
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* @brief Return the lower bound of the inequality constraints |
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*/ |
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virtual const VectorXs& get_g_lb() const override; |
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/** |
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* @brief Return the upper bound of the inequality constraints |
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*/ |
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virtual const VectorXs& get_g_ub() const override; |
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/** |
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* @brief Return the actuation model |
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*/ |
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const std::shared_ptr<ActuationModelAbstract>& get_actuation() const; |
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/** |
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* @brief Return the contact model |
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*/ |
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const std::shared_ptr<ContactModelMultiple>& get_contacts() const; |
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/** |
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* @brief Return the cost model |
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*/ |
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const std::shared_ptr<CostModelSum>& get_costs() const; |
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/** |
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* @brief Return the constraint model manager |
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*/ |
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const std::shared_ptr<ConstraintModelManager>& get_constraints() const; |
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/** |
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* @brief Return the Pinocchio model |
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*/ |
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pinocchio::ModelTpl<Scalar>& get_pinocchio() const; |
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/** |
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* @brief Print relevant information of the contact inverse-dynamics model |
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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::g_lb_; //!< Lower bound of the inequality constraints |
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using Base::g_ub_; //!< Upper bound of the inequality constraints |
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using Base::ng_; //!< Number of inequality constraints |
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using Base::nh_; //!< Number of equality constraints |
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using Base::nu_; //!< Control dimension |
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using Base::state_; //!< Model of the state |
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private: |
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void init(const std::shared_ptr<StateMultibody>& state); |
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std::shared_ptr<ActuationModelAbstract> actuation_; //!< Actuation model |
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std::shared_ptr<ContactModelMultiple> contacts_; //!< Contact model |
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std::shared_ptr<CostModelSum> costs_; //!< Cost model |
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std::shared_ptr<ConstraintModelManager> constraints_; //!< Constraint model |
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pinocchio::ModelTpl<Scalar>* pinocchio_; //!< Pinocchio model |
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public: |
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/** |
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* @brief Actuation residual |
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* |
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* This residual function enforces the torques of under-actuated joints (e.g., |
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* floating-base joints) to be zero. We compute these torques and their |
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* derivatives using RNEA inside |
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* `DifferentialActionModelContactInvDynamicsTpl`. |
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* |
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* As described in `ResidualModelAbstractTpl`, the residual value and its |
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* Jacobians are calculated by `calc` and `calcDiff`, respectively. |
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* |
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* \sa `ResidualModelAbstractTpl`, `calc()`, `calcDiff()`, `createData()` |
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*/ |
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class ResidualModelActuation : public ResidualModelAbstractTpl<_Scalar> { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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CROCODDYL_INNER_DERIVED_CAST(ResidualModelBase, |
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DifferentialActionModelContactInvDynamicsTpl, |
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ResidualModelActuation) |
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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 StateMultibodyTpl<Scalar> StateMultibody; |
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typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract; |
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typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; |
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typedef typename MathBase::VectorXs VectorXs; |
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/** |
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* @brief Initialize the actuation residual model |
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* |
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* @param[in] state State of the multibody system |
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* @param[in] nu Dimension of the joint torques |
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* @param[in] nc Dimension of all the contacts |
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*/ |
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ResidualModelActuation(std::shared_ptr<StateMultibody> state, |
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const std::size_t nu, const std::size_t nc) |
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: Base(state, state->get_nv() - nu, state->get_nv() + nc, true, true, |
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true), |
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na_(nu), |
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nc_(nc) {} |
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virtual ~ResidualModelActuation() = default; |
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/** |
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* @brief Compute the actuation residual |
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* |
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* @param[in] data Actuation residual 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$\mathbf{u}\in\mathbb{R}^{nv+nu}\f$ |
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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>&, |
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const Eigen::Ref<const VectorXs>&) override { |
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typename Data::ResidualDataActuation* d = |
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static_cast<typename Data::ResidualDataActuation*>(data.get()); |
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// Update the under-actuation set and residual |
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std::size_t nrow = 0; |
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for (std::size_t k = 0; |
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k < static_cast<std::size_t>(d->actuation->tau_set.size()); ++k) { |
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if (!d->actuation->tau_set[k]) { |
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data->r(nrow) = d->pinocchio->tau(k); |
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nrow += 1; |
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} |
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} |
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} |
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/** |
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* @brief @copydoc Base::calc(const std::shared_ptr<ResidualDataAbstract>& |
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* data, const Eigen::Ref<const VectorXs>& x) |
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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>&) override { |
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data->r.setZero(); |
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} |
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/** |
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* @brief Compute the derivatives of the actuation residual |
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* |
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|
|
* @param[in] data Actuation residual data |
| 352 |
|
|
* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
| 353 |
|
|
* @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ |
| 354 |
|
|
*/ |
| 355 |
|
✗ |
virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data, |
| 356 |
|
|
const Eigen::Ref<const VectorXs>&, |
| 357 |
|
|
const Eigen::Ref<const VectorXs>&) override { |
| 358 |
|
|
typename Data::ResidualDataActuation* d = |
| 359 |
|
✗ |
static_cast<typename Data::ResidualDataActuation*>(data.get()); |
| 360 |
|
✗ |
std::size_t nrow = 0; |
| 361 |
|
✗ |
const std::size_t nv = state_->get_nv(); |
| 362 |
|
✗ |
d->dtau_dx.leftCols(nv) = d->pinocchio->dtau_dq; |
| 363 |
|
✗ |
d->dtau_dx.rightCols(nv) = d->pinocchio->dtau_dv; |
| 364 |
|
✗ |
d->dtau_dx -= d->actuation->dtau_dx; |
| 365 |
|
✗ |
d->dtau_du.leftCols(nv) = d->pinocchio->M; |
| 366 |
|
✗ |
d->dtau_du.rightCols(nc_) = -d->contact->Jc.transpose(); |
| 367 |
|
✗ |
for (std::size_t k = 0; |
| 368 |
|
✗ |
k < static_cast<std::size_t>(d->actuation->tau_set.size()); ++k) { |
| 369 |
|
✗ |
if (!d->actuation->tau_set[k]) { |
| 370 |
|
✗ |
d->Rx.row(nrow) = d->dtau_dx.row(k); |
| 371 |
|
✗ |
d->Ru.row(nrow) = d->dtau_du.row(k); |
| 372 |
|
✗ |
nrow += 1; |
| 373 |
|
|
} |
| 374 |
|
|
} |
| 375 |
|
|
} |
| 376 |
|
|
|
| 377 |
|
|
/** |
| 378 |
|
|
* @brief @copydoc Base::calcDiff(const |
| 379 |
|
|
* std::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const |
| 380 |
|
|
* VectorXs>& x) |
| 381 |
|
|
*/ |
| 382 |
|
✗ |
virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data, |
| 383 |
|
|
const Eigen::Ref<const VectorXs>&) override { |
| 384 |
|
✗ |
data->Rx.setZero(); |
| 385 |
|
✗ |
data->Ru.setZero(); |
| 386 |
|
|
} |
| 387 |
|
|
|
| 388 |
|
|
/** |
| 389 |
|
|
* @brief Create the actuation residual data |
| 390 |
|
|
* |
| 391 |
|
|
* @return Actuation residual data |
| 392 |
|
|
*/ |
| 393 |
|
✗ |
virtual std::shared_ptr<ResidualDataAbstract> createData( |
| 394 |
|
|
DataCollectorAbstract* const data) override { |
| 395 |
|
|
return std::allocate_shared<typename Data::ResidualDataActuation>( |
| 396 |
|
✗ |
Eigen::aligned_allocator<typename Data::ResidualDataActuation>(), |
| 397 |
|
✗ |
this, data); |
| 398 |
|
|
} |
| 399 |
|
|
|
| 400 |
|
|
/** |
| 401 |
|
|
* @brief Cast the actuation-residual model to a different scalar type. |
| 402 |
|
|
* |
| 403 |
|
|
* It is useful for operations requiring different precision or scalar |
| 404 |
|
|
* types. |
| 405 |
|
|
* |
| 406 |
|
|
* @tparam NewScalar The new scalar type to cast to. |
| 407 |
|
|
* @return |
| 408 |
|
|
* DifferentialActionModelContactInvDynamicsTpl<NewScalar>::ResidualModelActuation |
| 409 |
|
|
* A residual model with the new scalar type. |
| 410 |
|
|
*/ |
| 411 |
|
|
template <typename NewScalar> |
| 412 |
|
|
typename DifferentialActionModelContactInvDynamicsTpl< |
| 413 |
|
|
NewScalar>::ResidualModelActuation |
| 414 |
|
✗ |
cast() const { |
| 415 |
|
|
typedef typename DifferentialActionModelContactInvDynamicsTpl< |
| 416 |
|
|
NewScalar>::ResidualModelActuation ReturnType; |
| 417 |
|
|
typedef StateMultibodyTpl<NewScalar> StateType; |
| 418 |
|
✗ |
ReturnType ret(std::static_pointer_cast<StateType>( |
| 419 |
|
✗ |
state_->template cast<NewScalar>()), |
| 420 |
|
✗ |
na_, nc_); |
| 421 |
|
✗ |
return ret; |
| 422 |
|
|
} |
| 423 |
|
|
|
| 424 |
|
|
/** |
| 425 |
|
|
* @brief Print relevant information of the actuation residual model |
| 426 |
|
|
* |
| 427 |
|
|
* @param[out] os Output stream object |
| 428 |
|
|
*/ |
| 429 |
|
✗ |
virtual void print(std::ostream& os) const override { |
| 430 |
|
✗ |
os << "ResidualModelActuation {nx=" << state_->get_nx() |
| 431 |
|
✗ |
<< ", ndx=" << state_->get_ndx() << ", nu=" << nu_ << ", na=" << na_ |
| 432 |
|
✗ |
<< "}"; |
| 433 |
|
|
} |
| 434 |
|
|
|
| 435 |
|
|
protected: |
| 436 |
|
|
using Base::nu_; |
| 437 |
|
|
using Base::state_; |
| 438 |
|
|
|
| 439 |
|
|
private: |
| 440 |
|
|
std::size_t na_; //!< Number of actuated joints |
| 441 |
|
|
std::size_t nc_; //!< Number of contacts |
| 442 |
|
|
}; |
| 443 |
|
|
|
| 444 |
|
|
public: |
| 445 |
|
|
/** |
| 446 |
|
|
* @brief Contact-acceleration residual |
| 447 |
|
|
* |
| 448 |
|
|
* This residual function is defined as \f$\mathbf{r} = \mathbf{a_0}\f$, where |
| 449 |
|
|
* \f$\mathbf{a_0}\f$ defines the desired contact acceleration, which might |
| 450 |
|
|
* also include the Baumgarte stabilization gains. Furthermore, the Jacobians |
| 451 |
|
|
* of the residual function are computed analytically. This is used by |
| 452 |
|
|
* `ConstraintModelManagerTpl` inside parent |
| 453 |
|
|
* `DifferentialActionModelContactInvDynamicsTpl` class. |
| 454 |
|
|
* |
| 455 |
|
|
* As described in `ResidualModelAbstractTpl`, the residual value and its |
| 456 |
|
|
* Jacobians are calculated by `calc` and `calcDiff`, respectively. |
| 457 |
|
|
* |
| 458 |
|
|
* \sa `ResidualModelAbstractTpl`, `calc()`, `calcDiff()`, `createData()` |
| 459 |
|
|
*/ |
| 460 |
|
|
class ResidualModelContact : public ResidualModelAbstractTpl<_Scalar> { |
| 461 |
|
|
public: |
| 462 |
|
|
EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
| 463 |
|
✗ |
CROCODDYL_INNER_DERIVED_CAST(ResidualModelBase, |
| 464 |
|
|
DifferentialActionModelContactInvDynamicsTpl, |
| 465 |
|
|
ResidualModelContact) |
| 466 |
|
|
|
| 467 |
|
|
typedef _Scalar Scalar; |
| 468 |
|
|
typedef MathBaseTpl<Scalar> MathBase; |
| 469 |
|
|
typedef ResidualModelAbstractTpl<Scalar> Base; |
| 470 |
|
|
typedef StateMultibodyTpl<Scalar> StateMultibody; |
| 471 |
|
|
typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract; |
| 472 |
|
|
typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; |
| 473 |
|
|
typedef typename MathBase::VectorXs VectorXs; |
| 474 |
|
|
typedef typename MathBase::MatrixXs MatrixXs; |
| 475 |
|
|
|
| 476 |
|
|
/** |
| 477 |
|
|
* @brief Initialize the contact-acceleration residual model |
| 478 |
|
|
* |
| 479 |
|
|
* @param[in] state State of the multibody system |
| 480 |
|
|
* @param[in] id Contact frame id |
| 481 |
|
|
* @param[in] nr Dimension of the contact-acceleration residual |
| 482 |
|
|
* @param[in] nc Dimension of all contacts |
| 483 |
|
|
*/ |
| 484 |
|
✗ |
ResidualModelContact(std::shared_ptr<StateMultibody> state, |
| 485 |
|
|
const pinocchio::FrameIndex id, const std::size_t nr, |
| 486 |
|
|
const std::size_t nc) |
| 487 |
|
✗ |
: Base(state, nr, state->get_nv() + nc, true, true, true), |
| 488 |
|
✗ |
id_(id), |
| 489 |
|
✗ |
frame_name_(state->get_pinocchio()->frames[id].name), |
| 490 |
|
✗ |
nc_(nc) {} |
| 491 |
|
✗ |
virtual ~ResidualModelContact() = default; |
| 492 |
|
|
|
| 493 |
|
|
/** |
| 494 |
|
|
* @brief Compute the contact-acceleration residual |
| 495 |
|
|
* |
| 496 |
|
|
* @param[in] data Contact-acceleration residual data |
| 497 |
|
|
* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
| 498 |
|
|
* @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nv+nu}\f$ |
| 499 |
|
|
*/ |
| 500 |
|
✗ |
void calc(const std::shared_ptr<ResidualDataAbstract>& data, |
| 501 |
|
|
const Eigen::Ref<const VectorXs>&, |
| 502 |
|
|
const Eigen::Ref<const VectorXs>&) override { |
| 503 |
|
|
typename Data::ResidualDataContact* d = |
| 504 |
|
✗ |
static_cast<typename Data::ResidualDataContact*>(data.get()); |
| 505 |
|
✗ |
d->r = d->contact->a0; |
| 506 |
|
|
} |
| 507 |
|
|
|
| 508 |
|
|
/** |
| 509 |
|
|
* @brief @copydoc Base::calc(const std::shared_ptr<ResidualDataAbstract>& |
| 510 |
|
|
* data, const Eigen::Ref<const VectorXs>& x) |
| 511 |
|
|
*/ |
| 512 |
|
✗ |
virtual void calc(const std::shared_ptr<ResidualDataAbstract>& data, |
| 513 |
|
|
const Eigen::Ref<const VectorXs>&) override { |
| 514 |
|
✗ |
data->r.setZero(); |
| 515 |
|
|
} |
| 516 |
|
|
|
| 517 |
|
|
/** |
| 518 |
|
|
* @brief Compute the derivatives of the contact-acceleration residual |
| 519 |
|
|
* |
| 520 |
|
|
* @param[in] data Contact-acceleration residual data |
| 521 |
|
|
* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
| 522 |
|
|
* @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ |
| 523 |
|
|
*/ |
| 524 |
|
✗ |
void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data, |
| 525 |
|
|
const Eigen::Ref<const VectorXs>&, |
| 526 |
|
|
const Eigen::Ref<const VectorXs>&) override { |
| 527 |
|
|
typename Data::ResidualDataContact* d = |
| 528 |
|
✗ |
static_cast<typename Data::ResidualDataContact*>(data.get()); |
| 529 |
|
✗ |
d->Rx = d->contact->da0_dx; |
| 530 |
|
✗ |
d->Ru.leftCols(state_->get_nv()) = d->contact->Jc; |
| 531 |
|
|
} |
| 532 |
|
|
|
| 533 |
|
|
/** |
| 534 |
|
|
* @brief @copydoc Base::calcDiff(const |
| 535 |
|
|
* std::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const |
| 536 |
|
|
* VectorXs>& x) |
| 537 |
|
|
*/ |
| 538 |
|
✗ |
virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data, |
| 539 |
|
|
const Eigen::Ref<const VectorXs>&) override { |
| 540 |
|
✗ |
data->Rx.setZero(); |
| 541 |
|
✗ |
data->Ru.setZero(); |
| 542 |
|
|
} |
| 543 |
|
|
|
| 544 |
|
|
/** |
| 545 |
|
|
* @brief Create the contact-acceleration residual data |
| 546 |
|
|
* |
| 547 |
|
|
* @return contact-acceleration residual data |
| 548 |
|
|
*/ |
| 549 |
|
✗ |
virtual std::shared_ptr<ResidualDataAbstract> createData( |
| 550 |
|
|
DataCollectorAbstract* const data) override { |
| 551 |
|
|
return std::allocate_shared<typename Data::ResidualDataContact>( |
| 552 |
|
✗ |
Eigen::aligned_allocator<typename Data::ResidualDataContact>(), this, |
| 553 |
|
✗ |
data, id_); |
| 554 |
|
|
} |
| 555 |
|
|
|
| 556 |
|
|
/** |
| 557 |
|
|
* @brief Cast the contact-residual model to a different scalar type. |
| 558 |
|
|
* |
| 559 |
|
|
* It is useful for operations requiring different precision or scalar |
| 560 |
|
|
* types. |
| 561 |
|
|
* |
| 562 |
|
|
* @tparam NewScalar The new scalar type to cast to. |
| 563 |
|
|
* @return typename |
| 564 |
|
|
* DifferentialActionModelContactInvDynamicsTpl<NewScalar>::ResidualModelContact |
| 565 |
|
|
* A residual model with the new scalar type. |
| 566 |
|
|
*/ |
| 567 |
|
|
template <typename NewScalar> |
| 568 |
|
|
typename DifferentialActionModelContactInvDynamicsTpl< |
| 569 |
|
|
NewScalar>::ResidualModelContact |
| 570 |
|
✗ |
cast() const { |
| 571 |
|
|
typedef typename DifferentialActionModelContactInvDynamicsTpl< |
| 572 |
|
|
NewScalar>::ResidualModelContact ReturnType; |
| 573 |
|
|
typedef StateMultibodyTpl<NewScalar> StateType; |
| 574 |
|
✗ |
ReturnType ret(std::static_pointer_cast<StateType>( |
| 575 |
|
✗ |
state_->template cast<NewScalar>()), |
| 576 |
|
✗ |
id_, nr_, nc_); |
| 577 |
|
✗ |
return ret; |
| 578 |
|
|
} |
| 579 |
|
|
|
| 580 |
|
|
/** |
| 581 |
|
|
* @brief Print relevant information of the contact-acceleration residual |
| 582 |
|
|
* model |
| 583 |
|
|
* |
| 584 |
|
|
* @param[out] os Output stream object |
| 585 |
|
|
*/ |
| 586 |
|
✗ |
virtual void print(std::ostream& os) const override { |
| 587 |
|
✗ |
os << "ResidualModelContact {frame=" << frame_name_ << ", nr=" << nr_ |
| 588 |
|
✗ |
<< "}"; |
| 589 |
|
|
} |
| 590 |
|
|
|
| 591 |
|
|
protected: |
| 592 |
|
|
using Base::nr_; |
| 593 |
|
|
using Base::nu_; |
| 594 |
|
|
using Base::state_; |
| 595 |
|
|
|
| 596 |
|
|
private: |
| 597 |
|
|
pinocchio::FrameIndex id_; //!< Reference frame id |
| 598 |
|
|
std::string frame_name_; //!< Reference frame name |
| 599 |
|
|
std::size_t nc_; //!< Dimension of all contacts |
| 600 |
|
|
}; |
| 601 |
|
|
}; |
| 602 |
|
|
template <typename _Scalar> |
| 603 |
|
|
struct DifferentialActionDataContactInvDynamicsTpl |
| 604 |
|
|
: public DifferentialActionDataAbstractTpl<_Scalar> { |
| 605 |
|
|
EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
| 606 |
|
|
typedef _Scalar Scalar; |
| 607 |
|
|
typedef MathBaseTpl<Scalar> MathBase; |
| 608 |
|
|
typedef DifferentialActionDataAbstractTpl<Scalar> Base; |
| 609 |
|
|
typedef JointDataAbstractTpl<Scalar> JointDataAbstract; |
| 610 |
|
|
typedef DataCollectorJointActMultibodyInContactTpl<Scalar> |
| 611 |
|
|
DataCollectorJointActMultibodyInContact; |
| 612 |
|
|
typedef CostDataSumTpl<Scalar> CostDataSum; |
| 613 |
|
|
typedef ConstraintDataManagerTpl<Scalar> ConstraintDataManager; |
| 614 |
|
|
typedef ContactModelMultipleTpl<Scalar> ContactModelMultiple; |
| 615 |
|
|
typedef ContactItemTpl<Scalar> ContactItem; |
| 616 |
|
|
typedef typename MathBase::VectorXs VectorXs; |
| 617 |
|
|
typedef typename MathBase::MatrixXs MatrixXs; |
| 618 |
|
|
|
| 619 |
|
|
template <template <typename Scalar> class Model> |
| 620 |
|
✗ |
explicit DifferentialActionDataContactInvDynamicsTpl( |
| 621 |
|
|
Model<Scalar>* const model) |
| 622 |
|
|
: Base(model), |
| 623 |
|
✗ |
pinocchio(pinocchio::DataTpl<Scalar>(model->get_pinocchio())), |
| 624 |
|
✗ |
multibody( |
| 625 |
|
✗ |
&pinocchio, model->get_actuation()->createData(), |
| 626 |
|
|
std::make_shared<JointDataAbstract>( |
| 627 |
|
✗ |
model->get_state(), model->get_actuation(), model->get_nu()), |
| 628 |
|
✗ |
model->get_contacts()->createData(&pinocchio)), |
| 629 |
|
✗ |
tmp_xstatic(model->get_state()->get_nx()), |
| 630 |
|
✗ |
tmp_rstatic(model->get_actuation()->get_nu() + |
| 631 |
|
✗ |
model->get_contacts()->get_nc()), |
| 632 |
|
✗ |
tmp_Jstatic(model->get_state()->get_nv(), |
| 633 |
|
✗ |
model->get_actuation()->get_nu() + |
| 634 |
|
✗ |
model->get_contacts()->get_nc()) { |
| 635 |
|
|
// Set constant values for Fu, df_dx, and df_du |
| 636 |
|
✗ |
const std::size_t nv = model->get_state()->get_nv(); |
| 637 |
|
✗ |
const std::size_t nc = model->get_contacts()->get_nc_total(); |
| 638 |
|
✗ |
Fu.leftCols(nv).diagonal().setOnes(); |
| 639 |
|
✗ |
multibody.joint->da_du.leftCols(nv).diagonal().setOnes(); |
| 640 |
|
✗ |
MatrixXs df_dx = MatrixXs::Zero(nc, model->get_state()->get_ndx()); |
| 641 |
|
✗ |
MatrixXs df_du = MatrixXs::Zero(nc, model->get_nu()); |
| 642 |
|
✗ |
std::size_t fid = 0; |
| 643 |
|
✗ |
for (typename ContactModelMultiple::ContactModelContainer::const_iterator |
| 644 |
|
✗ |
it = model->get_contacts()->get_contacts().begin(); |
| 645 |
|
✗ |
it != model->get_contacts()->get_contacts().end(); ++it) { |
| 646 |
|
✗ |
const std::size_t nc = it->second->contact->get_nc(); |
| 647 |
|
✗ |
df_du.block(fid, nv + fid, nc, nc).diagonal().setOnes(); |
| 648 |
|
✗ |
fid += nc; |
| 649 |
|
|
} |
| 650 |
|
✗ |
std::vector<bool> contact_status; |
| 651 |
|
✗ |
for (typename ContactModelMultiple::ContactModelContainer::const_iterator |
| 652 |
|
✗ |
it = model->get_contacts()->get_contacts().begin(); |
| 653 |
|
✗ |
it != model->get_contacts()->get_contacts().end(); ++it) { |
| 654 |
|
✗ |
const std::shared_ptr<ContactItem>& m_i = it->second; |
| 655 |
|
✗ |
contact_status.push_back(m_i->active); |
| 656 |
|
✗ |
m_i->active = true; |
| 657 |
|
|
} |
| 658 |
|
✗ |
model->get_contacts()->updateForceDiff(multibody.contacts, df_dx, df_du); |
| 659 |
|
✗ |
std::size_t cid = 0; |
| 660 |
|
✗ |
for (typename ContactModelMultiple::ContactModelContainer::const_iterator |
| 661 |
|
✗ |
it = model->get_contacts()->get_contacts().begin(); |
| 662 |
|
✗ |
it != model->get_contacts()->get_contacts().end(); ++it) { |
| 663 |
|
✗ |
const std::shared_ptr<ContactItem>& m_i = it->second; |
| 664 |
|
✗ |
m_i->active = contact_status[cid]; |
| 665 |
|
✗ |
cid++; |
| 666 |
|
|
} |
| 667 |
|
✗ |
costs = model->get_costs()->createData(&multibody); |
| 668 |
|
✗ |
constraints = model->get_constraints()->createData(&multibody); |
| 669 |
|
✗ |
costs->shareMemory(this); |
| 670 |
|
✗ |
constraints->shareMemory(this); |
| 671 |
|
|
|
| 672 |
|
✗ |
tmp_xstatic.setZero(); |
| 673 |
|
✗ |
tmp_rstatic.setZero(); |
| 674 |
|
✗ |
tmp_Jstatic.setZero(); |
| 675 |
|
|
} |
| 676 |
|
✗ |
virtual ~DifferentialActionDataContactInvDynamicsTpl() = default; |
| 677 |
|
|
|
| 678 |
|
|
pinocchio::DataTpl<Scalar> pinocchio; //!< Pinocchio data |
| 679 |
|
|
DataCollectorJointActMultibodyInContact multibody; //!< Multibody data |
| 680 |
|
|
std::shared_ptr<CostDataSum> costs; //!< Costs data |
| 681 |
|
|
std::shared_ptr<ConstraintDataManager> constraints; //!< Constraints data |
| 682 |
|
|
VectorXs |
| 683 |
|
|
tmp_xstatic; //!< State point used for computing the quasi-static input |
| 684 |
|
|
VectorXs |
| 685 |
|
|
tmp_rstatic; //!< Factorization used for computing the quasi-static input |
| 686 |
|
|
MatrixXs tmp_Jstatic; //!< Jacobian used for computing the quasi-static input |
| 687 |
|
|
|
| 688 |
|
|
using Base::cost; |
| 689 |
|
|
using Base::Fu; |
| 690 |
|
|
using Base::Fx; |
| 691 |
|
|
using Base::Lu; |
| 692 |
|
|
using Base::Luu; |
| 693 |
|
|
using Base::Lx; |
| 694 |
|
|
using Base::Lxu; |
| 695 |
|
|
using Base::Lxx; |
| 696 |
|
|
using Base::r; |
| 697 |
|
|
using Base::xout; |
| 698 |
|
|
|
| 699 |
|
|
struct ResidualDataActuation : public ResidualDataAbstractTpl<_Scalar> { |
| 700 |
|
|
EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
| 701 |
|
|
|
| 702 |
|
|
typedef _Scalar Scalar; |
| 703 |
|
|
typedef MathBaseTpl<Scalar> MathBase; |
| 704 |
|
|
typedef ResidualDataAbstractTpl<Scalar> Base; |
| 705 |
|
|
typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; |
| 706 |
|
|
typedef DataCollectorActMultibodyInContactTpl<Scalar> |
| 707 |
|
|
DataCollectorActMultibodyInContact; |
| 708 |
|
|
typedef ActuationDataAbstractTpl<Scalar> ActuationDataAbstract; |
| 709 |
|
|
typedef ContactDataMultipleTpl<Scalar> ContactDataMultiple; |
| 710 |
|
|
typedef typename MathBase::MatrixXs MatrixXs; |
| 711 |
|
|
|
| 712 |
|
|
template <template <typename Scalar> class Model> |
| 713 |
|
✗ |
ResidualDataActuation(Model<Scalar>* const model, |
| 714 |
|
|
DataCollectorAbstract* const data) |
| 715 |
|
|
: Base(model, data), |
| 716 |
|
✗ |
dtau_dx(model->get_state()->get_nv(), model->get_state()->get_ndx()), |
| 717 |
|
✗ |
dtau_du(model->get_state()->get_nv(), model->get_nu()) { |
| 718 |
|
|
// Check that proper shared data has been passed |
| 719 |
|
✗ |
DataCollectorActMultibodyInContact* d = |
| 720 |
|
✗ |
dynamic_cast<DataCollectorActMultibodyInContact*>(shared); |
| 721 |
|
✗ |
if (d == NULL) { |
| 722 |
|
✗ |
throw_pretty( |
| 723 |
|
|
"Invalid argument: the shared data should be derived from " |
| 724 |
|
|
"DataCollectorActMultibodyInContact"); |
| 725 |
|
|
} |
| 726 |
|
|
// Avoids data casting at runtime |
| 727 |
|
✗ |
pinocchio = d->pinocchio; |
| 728 |
|
✗ |
actuation = d->actuation; |
| 729 |
|
✗ |
contact = d->contacts; |
| 730 |
|
✗ |
dtau_dx.setZero(); |
| 731 |
|
✗ |
dtau_du.setZero(); |
| 732 |
|
|
} |
| 733 |
|
✗ |
virtual ~ResidualDataActuation() = default; |
| 734 |
|
|
|
| 735 |
|
|
pinocchio::DataTpl<Scalar>* pinocchio; //!< Pinocchio data |
| 736 |
|
|
std::shared_ptr<ActuationDataAbstract> actuation; //!< Actuation data |
| 737 |
|
|
std::shared_ptr<ContactDataMultiple> contact; //!< Contact data |
| 738 |
|
|
MatrixXs dtau_dx; |
| 739 |
|
|
MatrixXs dtau_du; |
| 740 |
|
|
using Base::r; |
| 741 |
|
|
using Base::Ru; |
| 742 |
|
|
using Base::Rx; |
| 743 |
|
|
using Base::shared; |
| 744 |
|
|
}; |
| 745 |
|
|
|
| 746 |
|
|
struct ResidualDataContact : public ResidualDataAbstractTpl<_Scalar> { |
| 747 |
|
|
EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
| 748 |
|
|
|
| 749 |
|
|
typedef _Scalar Scalar; |
| 750 |
|
|
typedef MathBaseTpl<Scalar> MathBase; |
| 751 |
|
|
typedef ResidualDataAbstractTpl<Scalar> Base; |
| 752 |
|
|
typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; |
| 753 |
|
|
typedef DataCollectorMultibodyInContactTpl<Scalar> |
| 754 |
|
|
DataCollectorMultibodyInContact; |
| 755 |
|
|
typedef ContactModelMultipleTpl<Scalar> ContactModelMultiple; |
| 756 |
|
|
|
| 757 |
|
|
template <template <typename Scalar> class Model> |
| 758 |
|
✗ |
ResidualDataContact(Model<Scalar>* const model, |
| 759 |
|
|
DataCollectorAbstract* const data, const std::size_t id) |
| 760 |
|
✗ |
: Base(model, data) { |
| 761 |
|
✗ |
DataCollectorMultibodyInContact* d = |
| 762 |
|
✗ |
dynamic_cast<DataCollectorMultibodyInContact*>(shared); |
| 763 |
|
✗ |
if (d == NULL) { |
| 764 |
|
✗ |
throw_pretty( |
| 765 |
|
|
"Invalid argument: the shared data should be derived from " |
| 766 |
|
|
"DataCollectorMultibodyInContact"); |
| 767 |
|
|
} |
| 768 |
|
✗ |
typename ContactModelMultiple::ContactDataContainer::iterator it, end; |
| 769 |
|
✗ |
for (it = d->contacts->contacts.begin(), |
| 770 |
|
✗ |
end = d->contacts->contacts.end(); |
| 771 |
|
✗ |
it != end; ++it) { |
| 772 |
|
✗ |
if (id == it->second->frame) { // TODO(cmastalli): use model->get_id() |
| 773 |
|
|
// and avoid to pass id in constructor |
| 774 |
|
✗ |
contact = it->second.get(); |
| 775 |
|
✗ |
break; |
| 776 |
|
|
} |
| 777 |
|
|
} |
| 778 |
|
|
} |
| 779 |
|
✗ |
virtual ~ResidualDataContact() = default; |
| 780 |
|
|
|
| 781 |
|
|
ContactDataAbstractTpl<Scalar>* contact; //!< Contact force data |
| 782 |
|
|
using Base::r; |
| 783 |
|
|
using Base::Ru; |
| 784 |
|
|
using Base::Rx; |
| 785 |
|
|
using Base::shared; |
| 786 |
|
|
}; |
| 787 |
|
|
}; |
| 788 |
|
|
} // namespace crocoddyl |
| 789 |
|
|
|
| 790 |
|
|
/* --- Details -------------------------------------------------------------- */ |
| 791 |
|
|
/* --- Details -------------------------------------------------------------- */ |
| 792 |
|
|
/* --- Details -------------------------------------------------------------- */ |
| 793 |
|
|
#include <crocoddyl/multibody/actions/contact-invdyn.hxx> |
| 794 |
|
|
|
| 795 |
|
|
CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS( |
| 796 |
|
|
crocoddyl::DifferentialActionModelContactInvDynamicsTpl) |
| 797 |
|
|
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT( |
| 798 |
|
|
crocoddyl::DifferentialActionDataContactInvDynamicsTpl) |
| 799 |
|
|
|
| 800 |
|
|
#endif // CROCODDYL_MULTIBODY_ACTIONS_CONTACT_INVDYN_HPP_ |
| 801 |
|
|
|