| Line |
Branch |
Exec |
Source |
| 1 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
| 2 |
|
|
// BSD 3-Clause License |
| 3 |
|
|
// |
| 4 |
|
|
// Copyright (C) 2021-2025, Heriot-Watt University, University of Edinburgh |
| 5 |
|
|
// Copyright note valid unless otherwise stated in individual files. |
| 6 |
|
|
// All rights reserved. |
| 7 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
| 8 |
|
|
|
| 9 |
|
|
#include "crocoddyl/core/constraints/residual.hpp" |
| 10 |
|
|
#include "crocoddyl/multibody/residuals/contact-force.hpp" |
| 11 |
|
|
|
| 12 |
|
|
namespace crocoddyl { |
| 13 |
|
|
|
| 14 |
|
|
template <typename Scalar> |
| 15 |
|
✗ |
DifferentialActionModelContactInvDynamicsTpl<Scalar>:: |
| 16 |
|
|
DifferentialActionModelContactInvDynamicsTpl( |
| 17 |
|
|
std::shared_ptr<StateMultibody> state, |
| 18 |
|
|
std::shared_ptr<ActuationModelAbstract> actuation, |
| 19 |
|
|
std::shared_ptr<ContactModelMultiple> contacts, |
| 20 |
|
|
std::shared_ptr<CostModelSum> costs) |
| 21 |
|
✗ |
: Base(state, state->get_nv() + contacts->get_nc_total(), costs->get_nr(), |
| 22 |
|
✗ |
0, state->get_nv() - actuation->get_nu() + contacts->get_nc_total()), |
| 23 |
|
✗ |
actuation_(actuation), |
| 24 |
|
✗ |
contacts_(contacts), |
| 25 |
|
✗ |
costs_(costs), |
| 26 |
|
✗ |
constraints_(std::make_shared<ConstraintModelManager>( |
| 27 |
|
✗ |
state, state->get_nv() + contacts->get_nc_total())), |
| 28 |
|
✗ |
pinocchio_(state->get_pinocchio().get()) { |
| 29 |
|
✗ |
init(state); |
| 30 |
|
|
} |
| 31 |
|
|
|
| 32 |
|
|
template <typename Scalar> |
| 33 |
|
✗ |
DifferentialActionModelContactInvDynamicsTpl<Scalar>:: |
| 34 |
|
|
DifferentialActionModelContactInvDynamicsTpl( |
| 35 |
|
|
std::shared_ptr<StateMultibody> state, |
| 36 |
|
|
std::shared_ptr<ActuationModelAbstract> actuation, |
| 37 |
|
|
std::shared_ptr<ContactModelMultiple> contacts, |
| 38 |
|
|
std::shared_ptr<CostModelSum> costs, |
| 39 |
|
|
std::shared_ptr<ConstraintModelManager> constraints) |
| 40 |
|
✗ |
: Base(state, state->get_nv() + contacts->get_nc_total(), costs->get_nr(), |
| 41 |
|
|
constraints->get_ng(), |
| 42 |
|
✗ |
state->get_nv() - actuation->get_nu() + contacts->get_nc_total() + |
| 43 |
|
✗ |
constraints->get_nh(), |
| 44 |
|
|
constraints->get_ng_T(), constraints->get_nh_T()), |
| 45 |
|
✗ |
actuation_(actuation), |
| 46 |
|
✗ |
contacts_(contacts), |
| 47 |
|
✗ |
costs_(costs), |
| 48 |
|
✗ |
constraints_(constraints), |
| 49 |
|
✗ |
pinocchio_(state->get_pinocchio().get()) { |
| 50 |
|
✗ |
init(state); |
| 51 |
|
|
} |
| 52 |
|
|
|
| 53 |
|
|
template <typename Scalar> |
| 54 |
|
✗ |
void DifferentialActionModelContactInvDynamicsTpl<Scalar>::init( |
| 55 |
|
|
const std::shared_ptr<StateMultibody>& state) { |
| 56 |
|
✗ |
if (contacts_->get_nu() != nu_) { |
| 57 |
|
✗ |
throw_pretty( |
| 58 |
|
|
"Invalid argument: " |
| 59 |
|
|
<< "Contacts doesn't have the same control dimension (it should be " + |
| 60 |
|
|
std::to_string(nu_) + ")"); |
| 61 |
|
|
} |
| 62 |
|
✗ |
if (costs_->get_nu() != nu_) { |
| 63 |
|
✗ |
throw_pretty( |
| 64 |
|
|
"Invalid argument: " |
| 65 |
|
|
<< "Costs doesn't have the same control dimension (it should be " + |
| 66 |
|
|
std::to_string(nu_) + ")"); |
| 67 |
|
|
} |
| 68 |
|
✗ |
const std::size_t nu = actuation_->get_nu(); |
| 69 |
|
✗ |
const std::size_t nc = contacts_->get_nc_total(); |
| 70 |
|
✗ |
VectorXs lb = |
| 71 |
|
✗ |
VectorXs::Constant(nu_, -std::numeric_limits<Scalar>::infinity()); |
| 72 |
|
✗ |
VectorXs ub = |
| 73 |
|
✗ |
VectorXs::Constant(nu_, std::numeric_limits<Scalar>::infinity()); |
| 74 |
|
✗ |
Base::set_u_lb(lb); |
| 75 |
|
✗ |
Base::set_u_ub(ub); |
| 76 |
|
✗ |
contacts_->setComputeAllContacts(true); |
| 77 |
|
|
|
| 78 |
|
✗ |
if (state_->get_nv() - actuation_->get_nu() > 0) { |
| 79 |
|
✗ |
constraints_->addConstraint( |
| 80 |
|
|
"tau", std::make_shared<ConstraintModelResidualTpl<Scalar>>( |
| 81 |
|
✗ |
state_, |
| 82 |
|
|
std::make_shared< |
| 83 |
|
|
typename DifferentialActionModelContactInvDynamicsTpl< |
| 84 |
|
|
Scalar>::ResidualModelActuation>(state, nu, nc), |
| 85 |
|
✗ |
false)); |
| 86 |
|
|
} |
| 87 |
|
✗ |
if (contacts_->get_nc_total() != 0) { |
| 88 |
|
✗ |
typename ContactModelMultiple::ContactModelContainer contact_list; |
| 89 |
|
✗ |
contact_list = contacts_->get_contacts(); |
| 90 |
|
✗ |
typename ContactModelMultiple::ContactModelContainer::iterator it_m, end_m; |
| 91 |
|
✗ |
for (it_m = contact_list.begin(), end_m = contact_list.end(); it_m != end_m; |
| 92 |
|
✗ |
++it_m) { |
| 93 |
|
✗ |
const std::shared_ptr<ContactItem>& contact = it_m->second; |
| 94 |
|
✗ |
const std::string name = contact->name; |
| 95 |
|
✗ |
const pinocchio::FrameIndex id = contact->contact->get_id(); |
| 96 |
|
✗ |
const std::size_t nc_i = contact->contact->get_nc(); |
| 97 |
|
✗ |
const bool active = contact->active; |
| 98 |
|
✗ |
constraints_->addConstraint( |
| 99 |
|
|
name + "_acc", |
| 100 |
|
|
std::make_shared<ConstraintModelResidualTpl<Scalar>>( |
| 101 |
|
✗ |
state_, |
| 102 |
|
|
std::make_shared< |
| 103 |
|
|
typename DifferentialActionModelContactInvDynamicsTpl< |
| 104 |
|
|
Scalar>::ResidualModelContact>(state, id, nc_i, nc), |
| 105 |
|
✗ |
false), |
| 106 |
|
|
active); |
| 107 |
|
✗ |
constraints_->addConstraint( |
| 108 |
|
|
name + "_force", |
| 109 |
|
|
std::make_shared<ConstraintModelResidualTpl<Scalar>>( |
| 110 |
|
✗ |
state_, |
| 111 |
|
|
std::make_shared<ResidualModelContactForceTpl<Scalar>>( |
| 112 |
|
✗ |
state, id, pinocchio::ForceTpl<Scalar>::Zero(), nc_i, nu_, |
| 113 |
|
✗ |
false), |
| 114 |
|
✗ |
false), |
| 115 |
|
✗ |
!active); |
| 116 |
|
|
} |
| 117 |
|
|
} |
| 118 |
|
|
} |
| 119 |
|
|
|
| 120 |
|
|
template <typename Scalar> |
| 121 |
|
✗ |
void DifferentialActionModelContactInvDynamicsTpl<Scalar>::calc( |
| 122 |
|
|
const std::shared_ptr<DifferentialActionDataAbstract>& data, |
| 123 |
|
|
const Eigen::Ref<const VectorXs>& x, const Eigen::Ref<const VectorXs>& u) { |
| 124 |
|
✗ |
if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
| 125 |
|
✗ |
throw_pretty( |
| 126 |
|
|
"Invalid argument: " << "x has wrong dimension (it should be " + |
| 127 |
|
|
std::to_string(state_->get_nx()) + ")"); |
| 128 |
|
|
} |
| 129 |
|
✗ |
if (static_cast<std::size_t>(u.size()) != nu_) { |
| 130 |
|
✗ |
throw_pretty( |
| 131 |
|
|
"Invalid argument: " << "u has wrong dimension (it should be " + |
| 132 |
|
|
std::to_string(nu_) + ")"); |
| 133 |
|
|
} |
| 134 |
|
✗ |
Data* d = static_cast<Data*>(data.get()); |
| 135 |
|
✗ |
const std::size_t nv = state_->get_nv(); |
| 136 |
|
✗ |
const std::size_t nc = contacts_->get_nc_total(); |
| 137 |
|
|
const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> q = |
| 138 |
|
✗ |
x.head(state_->get_nq()); |
| 139 |
|
|
const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> v = |
| 140 |
|
✗ |
x.tail(nv); |
| 141 |
|
|
const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> a = |
| 142 |
|
✗ |
u.head(nv); |
| 143 |
|
|
const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> |
| 144 |
|
✗ |
f_ext = u.tail(nc); |
| 145 |
|
|
|
| 146 |
|
✗ |
d->xout = a; |
| 147 |
|
✗ |
pinocchio::forwardKinematics(*pinocchio_, d->pinocchio, q, v, a); |
| 148 |
|
✗ |
pinocchio::computeJointJacobians(*pinocchio_, d->pinocchio); |
| 149 |
|
✗ |
contacts_->calc(d->multibody.contacts, x); |
| 150 |
|
✗ |
contacts_->updateForce(d->multibody.contacts, f_ext); |
| 151 |
|
✗ |
pinocchio::rnea(*pinocchio_, d->pinocchio, q, v, a, |
| 152 |
|
✗ |
d->multibody.contacts->fext); |
| 153 |
|
✗ |
pinocchio::updateGlobalPlacements(*pinocchio_, d->pinocchio); |
| 154 |
|
✗ |
pinocchio::centerOfMass(*pinocchio_, d->pinocchio, q, v, a); |
| 155 |
|
✗ |
actuation_->commands(d->multibody.actuation, x, d->pinocchio.tau); |
| 156 |
|
✗ |
d->multibody.joint->a = a; |
| 157 |
|
✗ |
d->multibody.joint->tau = d->multibody.actuation->u; |
| 158 |
|
✗ |
actuation_->calc(d->multibody.actuation, x, d->multibody.joint->tau); |
| 159 |
|
✗ |
costs_->calc(d->costs, x, u); |
| 160 |
|
✗ |
d->cost = d->costs->cost; |
| 161 |
|
✗ |
for (std::string name : contacts_->get_active_set()) { |
| 162 |
|
✗ |
constraints_->changeConstraintStatus(name + "_acc", true); |
| 163 |
|
✗ |
constraints_->changeConstraintStatus(name + "_force", false); |
| 164 |
|
|
} |
| 165 |
|
✗ |
for (std::string name : contacts_->get_inactive_set()) { |
| 166 |
|
✗ |
constraints_->changeConstraintStatus(name + "_acc", false); |
| 167 |
|
✗ |
constraints_->changeConstraintStatus(name + "_force", true); |
| 168 |
|
|
} |
| 169 |
|
✗ |
d->constraints->resize(this, d); |
| 170 |
|
✗ |
constraints_->calc(d->constraints, x, u); |
| 171 |
|
|
} |
| 172 |
|
|
|
| 173 |
|
|
template <typename Scalar> |
| 174 |
|
✗ |
void DifferentialActionModelContactInvDynamicsTpl<Scalar>::calc( |
| 175 |
|
|
const std::shared_ptr<DifferentialActionDataAbstract>& data, |
| 176 |
|
|
const Eigen::Ref<const VectorXs>& x) { |
| 177 |
|
✗ |
if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
| 178 |
|
✗ |
throw_pretty( |
| 179 |
|
|
"Invalid argument: " << "x has wrong dimension (it should be " + |
| 180 |
|
|
std::to_string(state_->get_nx()) + ")"); |
| 181 |
|
|
} |
| 182 |
|
|
|
| 183 |
|
✗ |
Data* d = static_cast<Data*>(data.get()); |
| 184 |
|
|
const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> q = |
| 185 |
|
✗ |
x.head(state_->get_nq()); |
| 186 |
|
|
const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> v = |
| 187 |
|
✗ |
x.tail(state_->get_nv()); |
| 188 |
|
|
|
| 189 |
|
✗ |
pinocchio::computeAllTerms(*pinocchio_, d->pinocchio, q, v); |
| 190 |
|
✗ |
pinocchio::computeCentroidalMomentum(*pinocchio_, d->pinocchio); |
| 191 |
|
✗ |
costs_->calc(d->costs, x); |
| 192 |
|
✗ |
d->cost = d->costs->cost; |
| 193 |
|
✗ |
d->constraints->resize(this, d, false); |
| 194 |
|
✗ |
constraints_->calc(d->constraints, x); |
| 195 |
|
|
} |
| 196 |
|
|
|
| 197 |
|
|
template <typename Scalar> |
| 198 |
|
✗ |
void DifferentialActionModelContactInvDynamicsTpl<Scalar>::calcDiff( |
| 199 |
|
|
const std::shared_ptr<DifferentialActionDataAbstract>& data, |
| 200 |
|
|
const Eigen::Ref<const VectorXs>& x, const Eigen::Ref<const VectorXs>& u) { |
| 201 |
|
✗ |
if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
| 202 |
|
✗ |
throw_pretty( |
| 203 |
|
|
"Invalid argument: " << "x has wrong dimension (it should be " + |
| 204 |
|
|
std::to_string(state_->get_nx()) + ")"); |
| 205 |
|
|
} |
| 206 |
|
✗ |
if (static_cast<std::size_t>(u.size()) != nu_) { |
| 207 |
|
✗ |
throw_pretty( |
| 208 |
|
|
"Invalid argument: " << "u has wrong dimension (it should be " + |
| 209 |
|
|
std::to_string(nu_) + ")"); |
| 210 |
|
|
} |
| 211 |
|
✗ |
Data* d = static_cast<Data*>(data.get()); |
| 212 |
|
✗ |
const std::size_t nv = state_->get_nv(); |
| 213 |
|
✗ |
const std::size_t nc = contacts_->get_nc_total(); |
| 214 |
|
|
const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> q = |
| 215 |
|
✗ |
x.head(state_->get_nq()); |
| 216 |
|
|
const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> v = |
| 217 |
|
✗ |
x.tail(nv); |
| 218 |
|
|
const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> a = |
| 219 |
|
✗ |
u.head(nv); |
| 220 |
|
|
|
| 221 |
|
✗ |
pinocchio::computeRNEADerivatives(*pinocchio_, d->pinocchio, q, v, a, |
| 222 |
|
✗ |
d->multibody.contacts->fext); |
| 223 |
|
✗ |
contacts_->updateRneaDiff(d->multibody.contacts, d->pinocchio); |
| 224 |
|
✗ |
d->pinocchio.M.template triangularView<Eigen::StrictlyLower>() = |
| 225 |
|
✗ |
d->pinocchio.M.template triangularView<Eigen::StrictlyUpper>() |
| 226 |
|
✗ |
.transpose(); |
| 227 |
|
✗ |
pinocchio::jacobianCenterOfMass(*pinocchio_, d->pinocchio, false); |
| 228 |
|
✗ |
actuation_->calcDiff(d->multibody.actuation, x, d->multibody.joint->tau); |
| 229 |
|
✗ |
actuation_->torqueTransform(d->multibody.actuation, x, |
| 230 |
|
✗ |
d->multibody.joint->tau); |
| 231 |
|
✗ |
d->multibody.joint->dtau_dx.leftCols(nv).noalias() = |
| 232 |
|
✗ |
d->multibody.actuation->Mtau * d->pinocchio.dtau_dq; |
| 233 |
|
✗ |
d->multibody.joint->dtau_dx.rightCols(nv).noalias() = |
| 234 |
|
✗ |
d->multibody.actuation->Mtau * d->pinocchio.dtau_dv; |
| 235 |
|
✗ |
d->multibody.joint->dtau_du.leftCols(nv).noalias() = |
| 236 |
|
✗ |
d->multibody.actuation->Mtau * d->pinocchio.M; |
| 237 |
|
✗ |
d->multibody.joint->dtau_du.rightCols(nc).noalias() = |
| 238 |
|
✗ |
-d->multibody.actuation->Mtau * |
| 239 |
|
✗ |
d->multibody.contacts->Jc.topRows(nc).transpose(); |
| 240 |
|
✗ |
contacts_->calcDiff(d->multibody.contacts, x); |
| 241 |
|
✗ |
costs_->calcDiff(d->costs, x, u); |
| 242 |
|
✗ |
for (std::string name : contacts_->get_active_set()) { |
| 243 |
|
✗ |
constraints_->changeConstraintStatus(name + "_acc", true); |
| 244 |
|
✗ |
constraints_->changeConstraintStatus(name + "_force", false); |
| 245 |
|
|
} |
| 246 |
|
✗ |
for (std::string name : contacts_->get_inactive_set()) { |
| 247 |
|
✗ |
constraints_->changeConstraintStatus(name + "_acc", false); |
| 248 |
|
✗ |
constraints_->changeConstraintStatus(name + "_force", true); |
| 249 |
|
|
} |
| 250 |
|
✗ |
d->constraints->resize(this, d); |
| 251 |
|
✗ |
constraints_->calcDiff(d->constraints, x, u); |
| 252 |
|
|
} |
| 253 |
|
|
|
| 254 |
|
|
template <typename Scalar> |
| 255 |
|
✗ |
void DifferentialActionModelContactInvDynamicsTpl<Scalar>::calcDiff( |
| 256 |
|
|
const std::shared_ptr<DifferentialActionDataAbstract>& data, |
| 257 |
|
|
const Eigen::Ref<const VectorXs>& x) { |
| 258 |
|
✗ |
if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
| 259 |
|
✗ |
throw_pretty( |
| 260 |
|
|
"Invalid argument: " << "x has wrong dimension (it should be " + |
| 261 |
|
|
std::to_string(state_->get_nx()) + ")"); |
| 262 |
|
|
} |
| 263 |
|
✗ |
Data* d = static_cast<Data*>(data.get()); |
| 264 |
|
✗ |
costs_->calcDiff(d->costs, x); |
| 265 |
|
✗ |
if (constraints_ != nullptr) { |
| 266 |
|
✗ |
constraints_->calcDiff(d->constraints, x); |
| 267 |
|
|
} |
| 268 |
|
|
} |
| 269 |
|
|
|
| 270 |
|
|
template <typename Scalar> |
| 271 |
|
|
std::shared_ptr<DifferentialActionDataAbstractTpl<Scalar>> |
| 272 |
|
✗ |
DifferentialActionModelContactInvDynamicsTpl<Scalar>::createData() { |
| 273 |
|
✗ |
return std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this); |
| 274 |
|
|
} |
| 275 |
|
|
|
| 276 |
|
|
template <typename Scalar> |
| 277 |
|
✗ |
void DifferentialActionModelContactInvDynamicsTpl<Scalar>::quasiStatic( |
| 278 |
|
|
const std::shared_ptr<DifferentialActionDataAbstract>& data, |
| 279 |
|
|
Eigen::Ref<VectorXs> u, const Eigen::Ref<const VectorXs>& x, std::size_t, |
| 280 |
|
|
Scalar) { |
| 281 |
|
✗ |
if (static_cast<std::size_t>(u.size()) != nu_) { |
| 282 |
|
✗ |
throw_pretty( |
| 283 |
|
|
"Invalid argument: " << "u has wrong dimension (it should be " + |
| 284 |
|
|
std::to_string(nu_) + ")"); |
| 285 |
|
|
} |
| 286 |
|
✗ |
if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
| 287 |
|
✗ |
throw_pretty( |
| 288 |
|
|
"Invalid argument: " << "x has wrong dimension (it should be " + |
| 289 |
|
|
std::to_string(state_->get_nx()) + ")"); |
| 290 |
|
|
} |
| 291 |
|
✗ |
Data* d = static_cast<Data*>(data.get()); |
| 292 |
|
✗ |
const std::size_t nq = state_->get_nq(); |
| 293 |
|
✗ |
const std::size_t nv = state_->get_nv(); |
| 294 |
|
✗ |
const std::size_t nu = actuation_->get_nu(); |
| 295 |
|
✗ |
std::size_t nc = contacts_->get_nc_total(); |
| 296 |
|
|
const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> q = |
| 297 |
|
✗ |
x.head(nq); |
| 298 |
|
✗ |
d->tmp_xstatic.head(nq) = q; |
| 299 |
|
✗ |
d->tmp_xstatic.tail(nv).setZero(); |
| 300 |
|
✗ |
u.setZero(); |
| 301 |
|
|
|
| 302 |
|
✗ |
pinocchio::computeAllTerms(*pinocchio_, d->pinocchio, q, |
| 303 |
|
✗ |
d->tmp_xstatic.tail(nv)); |
| 304 |
|
✗ |
pinocchio::computeJointJacobians(*pinocchio_, d->pinocchio, q); |
| 305 |
|
✗ |
pinocchio::rnea(*pinocchio_, d->pinocchio, q, d->tmp_xstatic.tail(nv), |
| 306 |
|
✗ |
d->tmp_xstatic.tail(nv)); |
| 307 |
|
✗ |
actuation_->calc(d->multibody.actuation, d->tmp_xstatic, |
| 308 |
|
✗ |
d->tmp_xstatic.tail(nu)); |
| 309 |
|
✗ |
actuation_->calcDiff(d->multibody.actuation, d->tmp_xstatic, |
| 310 |
|
✗ |
d->tmp_xstatic.tail(nu)); |
| 311 |
|
✗ |
contacts_->setComputeAllContacts(false); |
| 312 |
|
✗ |
contacts_->calc(d->multibody.contacts, d->tmp_xstatic); |
| 313 |
|
✗ |
contacts_->setComputeAllContacts(true); |
| 314 |
|
|
|
| 315 |
|
✗ |
d->tmp_Jstatic.conservativeResize(nv, nu + nc); |
| 316 |
|
✗ |
d->tmp_Jstatic.leftCols(nu) = d->multibody.actuation->dtau_du; |
| 317 |
|
✗ |
d->tmp_Jstatic.rightCols(nc) = |
| 318 |
|
✗ |
d->multibody.contacts->Jc.topRows(nc).transpose(); |
| 319 |
|
✗ |
d->tmp_rstatic.noalias() = pseudoInverse(d->tmp_Jstatic) * d->pinocchio.tau; |
| 320 |
|
✗ |
if (nc != 0) { |
| 321 |
|
✗ |
nc = 0; |
| 322 |
|
✗ |
std::size_t nc_r = 0; |
| 323 |
|
✗ |
for (typename ContactModelMultiple::ContactModelContainer::const_iterator |
| 324 |
|
✗ |
it_m = contacts_->get_contacts().begin(); |
| 325 |
|
✗ |
it_m != contacts_->get_contacts().end(); ++it_m) { |
| 326 |
|
✗ |
const std::shared_ptr<ContactItem>& m_i = it_m->second; |
| 327 |
|
✗ |
const std::size_t nc_i = m_i->contact->get_nc(); |
| 328 |
|
✗ |
if (m_i->active) { |
| 329 |
|
✗ |
u.segment(nv + nc, nc_i) = d->tmp_rstatic.segment(nu + nc_r, nc_i); |
| 330 |
|
✗ |
nc_r += nc_i; |
| 331 |
|
|
} else { |
| 332 |
|
✗ |
u.segment(nv + nc, nc_i).setZero(); |
| 333 |
|
|
} |
| 334 |
|
✗ |
nc += nc_i; |
| 335 |
|
|
} |
| 336 |
|
|
} |
| 337 |
|
✗ |
d->pinocchio.tau.setZero(); |
| 338 |
|
|
} |
| 339 |
|
|
|
| 340 |
|
|
template <typename Scalar> |
| 341 |
|
|
template <typename NewScalar> |
| 342 |
|
|
DifferentialActionModelContactInvDynamicsTpl<NewScalar> |
| 343 |
|
✗ |
DifferentialActionModelContactInvDynamicsTpl<Scalar>::cast() const { |
| 344 |
|
|
typedef DifferentialActionModelContactInvDynamicsTpl<NewScalar> ReturnType; |
| 345 |
|
|
typedef StateMultibodyTpl<NewScalar> StateType; |
| 346 |
|
|
typedef ContactModelMultipleTpl<NewScalar> ContactType; |
| 347 |
|
|
typedef CostModelSumTpl<NewScalar> CostType; |
| 348 |
|
|
typedef ConstraintModelManagerTpl<NewScalar> ConstraintType; |
| 349 |
|
✗ |
if (constraints_) { |
| 350 |
|
✗ |
const std::shared_ptr<ConstraintType>& constraints = |
| 351 |
|
|
std::make_shared<ConstraintType>( |
| 352 |
|
✗ |
constraints_->template cast<NewScalar>()); |
| 353 |
|
✗ |
if (state_->get_nv() - actuation_->get_nu() > 0) { |
| 354 |
|
✗ |
constraints->removeConstraint("tau"); |
| 355 |
|
|
} |
| 356 |
|
✗ |
if (contacts_->get_nc_total() != 0) { |
| 357 |
|
✗ |
typename ContactModelMultiple::ContactModelContainer contact_list; |
| 358 |
|
✗ |
contact_list = contacts_->get_contacts(); |
| 359 |
|
✗ |
typename ContactModelMultiple::ContactModelContainer::iterator it_m, |
| 360 |
|
✗ |
end_m; |
| 361 |
|
✗ |
for (it_m = contact_list.begin(), end_m = contact_list.end(); |
| 362 |
|
✗ |
it_m != end_m; ++it_m) { |
| 363 |
|
✗ |
const std::string name = it_m->second->name; |
| 364 |
|
✗ |
constraints->removeConstraint(name + "_acc"); |
| 365 |
|
✗ |
constraints->removeConstraint(name + "_force"); |
| 366 |
|
|
} |
| 367 |
|
|
} |
| 368 |
|
✗ |
ReturnType ret( |
| 369 |
|
✗ |
std::static_pointer_cast<StateType>(state_->template cast<NewScalar>()), |
| 370 |
|
✗ |
actuation_->template cast<NewScalar>(), |
| 371 |
|
✗ |
std::make_shared<ContactType>(contacts_->template cast<NewScalar>()), |
| 372 |
|
✗ |
std::make_shared<CostType>(costs_->template cast<NewScalar>()), |
| 373 |
|
|
constraints); |
| 374 |
|
✗ |
return ret; |
| 375 |
|
✗ |
} else { |
| 376 |
|
✗ |
ReturnType ret( |
| 377 |
|
✗ |
std::static_pointer_cast<StateType>(state_->template cast<NewScalar>()), |
| 378 |
|
✗ |
actuation_->template cast<NewScalar>(), |
| 379 |
|
✗ |
std::make_shared<ContactType>(contacts_->template cast<NewScalar>()), |
| 380 |
|
✗ |
std::make_shared<CostType>(costs_->template cast<NewScalar>())); |
| 381 |
|
✗ |
return ret; |
| 382 |
|
|
} |
| 383 |
|
|
} |
| 384 |
|
|
|
| 385 |
|
|
template <typename Scalar> |
| 386 |
|
✗ |
bool DifferentialActionModelContactInvDynamicsTpl<Scalar>::checkData( |
| 387 |
|
|
const std::shared_ptr<DifferentialActionDataAbstract>& data) { |
| 388 |
|
✗ |
std::shared_ptr<Data> d = std::dynamic_pointer_cast<Data>(data); |
| 389 |
|
✗ |
if (d != NULL) { |
| 390 |
|
✗ |
return true; |
| 391 |
|
|
} else { |
| 392 |
|
✗ |
return false; |
| 393 |
|
|
} |
| 394 |
|
|
} |
| 395 |
|
|
|
| 396 |
|
|
template <typename Scalar> |
| 397 |
|
✗ |
void DifferentialActionModelContactInvDynamicsTpl<Scalar>::print( |
| 398 |
|
|
std::ostream& os) const { |
| 399 |
|
✗ |
os << "DifferentialActionModelContactInvDynamics {nx=" << state_->get_nx() |
| 400 |
|
✗ |
<< ", ndx=" << state_->get_ndx() << ", nu=" << nu_ |
| 401 |
|
✗ |
<< ", nc=" << contacts_->get_nc_total() << "}"; |
| 402 |
|
|
} |
| 403 |
|
|
|
| 404 |
|
|
template <typename Scalar> |
| 405 |
|
✗ |
std::size_t DifferentialActionModelContactInvDynamicsTpl<Scalar>::get_ng() |
| 406 |
|
|
const { |
| 407 |
|
✗ |
if (constraints_ != nullptr) { |
| 408 |
|
✗ |
return constraints_->get_ng(); |
| 409 |
|
|
} else { |
| 410 |
|
✗ |
return Base::get_ng(); |
| 411 |
|
|
} |
| 412 |
|
|
} |
| 413 |
|
|
|
| 414 |
|
|
template <typename Scalar> |
| 415 |
|
✗ |
std::size_t DifferentialActionModelContactInvDynamicsTpl<Scalar>::get_nh() |
| 416 |
|
|
const { |
| 417 |
|
✗ |
if (constraints_ != nullptr) { |
| 418 |
|
✗ |
return constraints_->get_nh(); |
| 419 |
|
|
} else { |
| 420 |
|
✗ |
return Base::get_nh(); |
| 421 |
|
|
} |
| 422 |
|
|
} |
| 423 |
|
|
|
| 424 |
|
|
template <typename Scalar> |
| 425 |
|
✗ |
std::size_t DifferentialActionModelContactInvDynamicsTpl<Scalar>::get_ng_T() |
| 426 |
|
|
const { |
| 427 |
|
✗ |
if (constraints_ != nullptr) { |
| 428 |
|
✗ |
return constraints_->get_ng_T(); |
| 429 |
|
|
} else { |
| 430 |
|
✗ |
return Base::get_ng_T(); |
| 431 |
|
|
} |
| 432 |
|
|
} |
| 433 |
|
|
|
| 434 |
|
|
template <typename Scalar> |
| 435 |
|
✗ |
std::size_t DifferentialActionModelContactInvDynamicsTpl<Scalar>::get_nh_T() |
| 436 |
|
|
const { |
| 437 |
|
✗ |
if (constraints_ != nullptr) { |
| 438 |
|
✗ |
return constraints_->get_nh_T(); |
| 439 |
|
|
} else { |
| 440 |
|
✗ |
return Base::get_nh_T(); |
| 441 |
|
|
} |
| 442 |
|
|
} |
| 443 |
|
|
|
| 444 |
|
|
template <typename Scalar> |
| 445 |
|
|
const typename MathBaseTpl<Scalar>::VectorXs& |
| 446 |
|
✗ |
DifferentialActionModelContactInvDynamicsTpl<Scalar>::get_g_lb() const { |
| 447 |
|
✗ |
if (constraints_ != nullptr) { |
| 448 |
|
✗ |
return constraints_->get_lb(); |
| 449 |
|
|
} else { |
| 450 |
|
✗ |
return g_lb_; |
| 451 |
|
|
} |
| 452 |
|
|
} |
| 453 |
|
|
|
| 454 |
|
|
template <typename Scalar> |
| 455 |
|
|
const typename MathBaseTpl<Scalar>::VectorXs& |
| 456 |
|
✗ |
DifferentialActionModelContactInvDynamicsTpl<Scalar>::get_g_ub() const { |
| 457 |
|
✗ |
if (constraints_ != nullptr) { |
| 458 |
|
✗ |
return constraints_->get_ub(); |
| 459 |
|
|
} else { |
| 460 |
|
✗ |
return g_lb_; |
| 461 |
|
|
} |
| 462 |
|
|
} |
| 463 |
|
|
|
| 464 |
|
|
template <typename Scalar> |
| 465 |
|
|
pinocchio::ModelTpl<Scalar>& |
| 466 |
|
✗ |
DifferentialActionModelContactInvDynamicsTpl<Scalar>::get_pinocchio() const { |
| 467 |
|
✗ |
return *pinocchio_; |
| 468 |
|
|
} |
| 469 |
|
|
|
| 470 |
|
|
template <typename Scalar> |
| 471 |
|
|
const std::shared_ptr<ActuationModelAbstractTpl<Scalar>>& |
| 472 |
|
✗ |
DifferentialActionModelContactInvDynamicsTpl<Scalar>::get_actuation() const { |
| 473 |
|
✗ |
return actuation_; |
| 474 |
|
|
} |
| 475 |
|
|
|
| 476 |
|
|
template <typename Scalar> |
| 477 |
|
|
const std::shared_ptr<ContactModelMultipleTpl<Scalar>>& |
| 478 |
|
✗ |
DifferentialActionModelContactInvDynamicsTpl<Scalar>::get_contacts() const { |
| 479 |
|
✗ |
return contacts_; |
| 480 |
|
|
} |
| 481 |
|
|
|
| 482 |
|
|
template <typename Scalar> |
| 483 |
|
|
const std::shared_ptr<CostModelSumTpl<Scalar>>& |
| 484 |
|
✗ |
DifferentialActionModelContactInvDynamicsTpl<Scalar>::get_costs() const { |
| 485 |
|
✗ |
return costs_; |
| 486 |
|
|
} |
| 487 |
|
|
|
| 488 |
|
|
template <typename Scalar> |
| 489 |
|
|
const std::shared_ptr<ConstraintModelManagerTpl<Scalar>>& |
| 490 |
|
✗ |
DifferentialActionModelContactInvDynamicsTpl<Scalar>::get_constraints() const { |
| 491 |
|
✗ |
return constraints_; |
| 492 |
|
|
} |
| 493 |
|
|
|
| 494 |
|
|
} // namespace crocoddyl |
| 495 |
|
|
|