| Directory: | ./ |
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| File: | include/crocoddyl/multibody/residuals/contact-wrench-cone.hpp |
| Date: | 2025-01-16 08:47:40 |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2020-2024, University of Edinburgh, Heriot-Watt University | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #ifndef CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_WRENCH_CONE_HPP_ | ||
| 10 | #define CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_WRENCH_CONE_HPP_ | ||
| 11 | |||
| 12 | #include "crocoddyl/core/residual-base.hpp" | ||
| 13 | #include "crocoddyl/core/utils/exception.hpp" | ||
| 14 | #include "crocoddyl/multibody/contact-base.hpp" | ||
| 15 | #include "crocoddyl/multibody/contacts/contact-3d.hpp" | ||
| 16 | #include "crocoddyl/multibody/contacts/contact-6d.hpp" | ||
| 17 | #include "crocoddyl/multibody/contacts/multiple-contacts.hpp" | ||
| 18 | #include "crocoddyl/multibody/data/contacts.hpp" | ||
| 19 | #include "crocoddyl/multibody/data/impulses.hpp" | ||
| 20 | #include "crocoddyl/multibody/fwd.hpp" | ||
| 21 | #include "crocoddyl/multibody/impulse-base.hpp" | ||
| 22 | #include "crocoddyl/multibody/impulses/impulse-3d.hpp" | ||
| 23 | #include "crocoddyl/multibody/impulses/impulse-6d.hpp" | ||
| 24 | #include "crocoddyl/multibody/impulses/multiple-impulses.hpp" | ||
| 25 | #include "crocoddyl/multibody/states/multibody.hpp" | ||
| 26 | #include "crocoddyl/multibody/wrench-cone.hpp" | ||
| 27 | |||
| 28 | namespace crocoddyl { | ||
| 29 | |||
| 30 | /** | ||
| 31 | * @brief Contact wrench cone residual function | ||
| 32 | * | ||
| 33 | * This residual function is defined as | ||
| 34 | * \f$\mathbf{r}=\mathbf{A}\boldsymbol{\lambda}\f$, where \f$\mathbf{A}\f$ is | ||
| 35 | * the inequality matrix defined by the contact wrench cone, and | ||
| 36 | * \f$\boldsymbol{\lambda}\f$ is the current spatial forces. The current spatial | ||
| 37 | * forces \f$\boldsymbol{\lambda}\in\mathbb{R}^{nc}\f$ is computed by | ||
| 38 | * `DifferentialActionModelContactFwdDynamicsTpl` or | ||
| 39 | * `ActionModelImpulseFwdDynamicTpl`, with `nc` as the dimension of the contact. | ||
| 40 | * | ||
| 41 | * Both residual and residual Jacobians are computed analytically, where the | ||
| 42 | * force vector \f$\boldsymbol{\lambda}\f$ and its Jacobians | ||
| 43 | * \f$\left(\frac{\partial\boldsymbol{\lambda}}{\partial\mathbf{x}}, | ||
| 44 | * \frac{\partial\boldsymbol{\lambda}}{\partial\mathbf{u}}\right)\f$ are | ||
| 45 | * computed by `DifferentialActionModelContactFwdDynamicsTpl` or | ||
| 46 | * `ActionModelImpulseFwdDynamicTpl`. These values are stored in a shared data | ||
| 47 | * (i.e., `DataCollectorContactTpl` or `DataCollectorImpulseTpl`). Note that | ||
| 48 | * this residual function cannot be used with other action models. | ||
| 49 | * | ||
| 50 | * \sa `ResidualModelAbstractTpl`, `calc()`, `calcDiff()`, `createData()`, | ||
| 51 | * `DifferentialActionModelContactFwdDynamicsTpl`, | ||
| 52 | * `ActionModelImpulseFwdDynamicTpl`, `DataCollectorForceTpl` | ||
| 53 | */ | ||
| 54 | template <typename _Scalar> | ||
| 55 | class ResidualModelContactWrenchConeTpl | ||
| 56 | : public ResidualModelAbstractTpl<_Scalar> { | ||
| 57 | public: | ||
| 58 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 59 | |||
| 60 | typedef _Scalar Scalar; | ||
| 61 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 62 | typedef ResidualModelAbstractTpl<Scalar> Base; | ||
| 63 | typedef ResidualDataContactWrenchConeTpl<Scalar> Data; | ||
| 64 | typedef StateMultibodyTpl<Scalar> StateMultibody; | ||
| 65 | typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract; | ||
| 66 | typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; | ||
| 67 | typedef WrenchConeTpl<Scalar> WrenchCone; | ||
| 68 | typedef typename MathBase::VectorXs VectorXs; | ||
| 69 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 70 | typedef typename MathBase::MatrixX6s MatrixX6s; | ||
| 71 | |||
| 72 | /** | ||
| 73 | * @brief Initialize the contact wrench cone residual model | ||
| 74 | * | ||
| 75 | * Note that for the inverse-dynamic cases, the control vector contains the | ||
| 76 | * generalized accelerations, torques, and all the contact forces. | ||
| 77 | * | ||
| 78 | * @param[in] state Multibody state | ||
| 79 | * @param[in] id Reference frame id | ||
| 80 | * @param[in] fref Reference contact wrench cone | ||
| 81 | * @param[in] nu Dimension of control vector | ||
| 82 | * @param[in] fwddyn Indicates that we have a forward dynamics problem (true) | ||
| 83 | * or inverse dynamics (false) | ||
| 84 | */ | ||
| 85 | ResidualModelContactWrenchConeTpl(boost::shared_ptr<StateMultibody> state, | ||
| 86 | const pinocchio::FrameIndex id, | ||
| 87 | const WrenchCone& fref, | ||
| 88 | const std::size_t nu, | ||
| 89 | const bool fwddyn = true); | ||
| 90 | |||
| 91 | /** | ||
| 92 | * @brief Initialize the contact wrench cone residual model | ||
| 93 | * | ||
| 94 | * The default `nu` is obtained from `StateAbstractTpl::get_nv()`. Note that | ||
| 95 | * this constructor can be used for forward-dynamics cases only. | ||
| 96 | * | ||
| 97 | * @param[in] state Multibody state | ||
| 98 | * @param[in] id Reference frame id | ||
| 99 | * @param[in] fref Reference contact wrench cone | ||
| 100 | */ | ||
| 101 | ResidualModelContactWrenchConeTpl(boost::shared_ptr<StateMultibody> state, | ||
| 102 | const pinocchio::FrameIndex id, | ||
| 103 | const WrenchCone& fref); | ||
| 104 | virtual ~ResidualModelContactWrenchConeTpl(); | ||
| 105 | |||
| 106 | /** | ||
| 107 | * @brief Compute the contact wrench cone residual | ||
| 108 | * | ||
| 109 | * The CoP residual is computed based on the \f$\mathbf{A}\f$ matrix, the | ||
| 110 | * force vector is computed by `DifferentialActionModelContactFwdDynamicsTpl` | ||
| 111 | * or `ActionModelImpulseFwdDynamicTpl` which is stored in | ||
| 112 | * `DataCollectorContactTpl` or `DataCollectorImpulseTpl`. | ||
| 113 | * | ||
| 114 | * @param[in] data Contact force data | ||
| 115 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 116 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 117 | */ | ||
| 118 | virtual void calc(const boost::shared_ptr<ResidualDataAbstract>& data, | ||
| 119 | const Eigen::Ref<const VectorXs>& x, | ||
| 120 | const Eigen::Ref<const VectorXs>& u); | ||
| 121 | |||
| 122 | /** | ||
| 123 | * @brief Compute the residual vector for nodes that depends only on the state | ||
| 124 | * | ||
| 125 | * It updates the residual vector based on the state only (i.e., it ignores | ||
| 126 | * the contact forces). This function is used in the terminal nodes of an | ||
| 127 | * optimal control problem. | ||
| 128 | * | ||
| 129 | * @param[in] data Residual data | ||
| 130 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 131 | */ | ||
| 132 | virtual void calc(const boost::shared_ptr<ResidualDataAbstract>& data, | ||
| 133 | const Eigen::Ref<const VectorXs>& x); | ||
| 134 | |||
| 135 | /** | ||
| 136 | * @brief Compute the derivatives of the contact wrench cone residual | ||
| 137 | * | ||
| 138 | * The CoP residual is computed based on the \f$\mathbf{A}\f$ matrix, the | ||
| 139 | * force vector is computed by `DifferentialActionModelContactFwdDynamicsTpl` | ||
| 140 | * or `ActionModelImpulseFwdDynamicTpl` which is stored in | ||
| 141 | * `DataCollectorContactTpl` or `DataCollectorImpulseTpl`. | ||
| 142 | * | ||
| 143 | * @param[in] data Contact force data | ||
| 144 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 145 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 146 | */ | ||
| 147 | virtual void calcDiff(const boost::shared_ptr<ResidualDataAbstract>& data, | ||
| 148 | const Eigen::Ref<const VectorXs>& x, | ||
| 149 | const Eigen::Ref<const VectorXs>& u); | ||
| 150 | |||
| 151 | /** | ||
| 152 | * @brief Compute the Jacobian of the residual functions with respect to the | ||
| 153 | * state only | ||
| 154 | * | ||
| 155 | * It updates the Jacobian of the residual function based on the state only | ||
| 156 | * (i.e., it ignores the contact forces). This function is used in the | ||
| 157 | * terminal nodes of an optimal control problem. | ||
| 158 | * | ||
| 159 | * @param[in] data Residual data | ||
| 160 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 161 | */ | ||
| 162 | virtual void calcDiff(const boost::shared_ptr<ResidualDataAbstract>& data, | ||
| 163 | const Eigen::Ref<const VectorXs>& x); | ||
| 164 | |||
| 165 | /** | ||
| 166 | * @brief Create the contact wrench cone residual data | ||
| 167 | * | ||
| 168 | * @param[in] data shared data (it should be of type DataCollectorContactTpl) | ||
| 169 | * @return the residual data. | ||
| 170 | */ | ||
| 171 | virtual boost::shared_ptr<ResidualDataAbstract> createData( | ||
| 172 | DataCollectorAbstract* const data); | ||
| 173 | |||
| 174 | /** | ||
| 175 | * @brief Update the Jacobians of the contact friction cone residual | ||
| 176 | * | ||
| 177 | * @param[in] data Contact friction cone residual data | ||
| 178 | */ | ||
| 179 | void updateJacobians(const boost::shared_ptr<ResidualDataAbstract>& data); | ||
| 180 | |||
| 181 | /** | ||
| 182 | * @brief Indicates if we are using the forward-dynamics (true) or | ||
| 183 | * inverse-dynamics (false) | ||
| 184 | */ | ||
| 185 | bool is_fwddyn() const; | ||
| 186 | |||
| 187 | /** | ||
| 188 | * @brief Return the reference frame id | ||
| 189 | */ | ||
| 190 | pinocchio::FrameIndex get_id() const; | ||
| 191 | |||
| 192 | /** | ||
| 193 | * @brief Return the reference contact wrench cone | ||
| 194 | */ | ||
| 195 | const WrenchCone& get_reference() const; | ||
| 196 | |||
| 197 | /** | ||
| 198 | * @brief Modify the reference frame id | ||
| 199 | */ | ||
| 200 | DEPRECATED("Do not use set_id, instead create a new model", | ||
| 201 | void set_id(const pinocchio::FrameIndex id);) | ||
| 202 | |||
| 203 | /** | ||
| 204 | * @brief Modify the reference contact wrench cone | ||
| 205 | */ | ||
| 206 | void set_reference(const WrenchCone& reference); | ||
| 207 | |||
| 208 | /** | ||
| 209 | * @brief Print relevant information of the contact-wrench-cone residual | ||
| 210 | * | ||
| 211 | * @param[out] os Output stream object | ||
| 212 | */ | ||
| 213 | virtual void print(std::ostream& os) const; | ||
| 214 | |||
| 215 | protected: | ||
| 216 | using Base::nu_; | ||
| 217 | using Base::state_; | ||
| 218 | |||
| 219 | private: | ||
| 220 | bool fwddyn_; //!< Indicates if we are using this function for forward | ||
| 221 | //!< dynamics | ||
| 222 | bool update_jacobians_; //!< Indicates if we need to update the Jacobians | ||
| 223 | //!< (used for inverse dynamics case) | ||
| 224 | pinocchio::FrameIndex id_; //!< Reference frame id | ||
| 225 | WrenchCone fref_; //!< Reference contact wrench cone | ||
| 226 | }; | ||
| 227 | |||
| 228 | template <typename _Scalar> | ||
| 229 | struct ResidualDataContactWrenchConeTpl | ||
| 230 | : public ResidualDataAbstractTpl<_Scalar> { | ||
| 231 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 232 | |||
| 233 | typedef _Scalar Scalar; | ||
| 234 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 235 | typedef ResidualDataAbstractTpl<Scalar> Base; | ||
| 236 | typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; | ||
| 237 | typedef ContactModelMultipleTpl<Scalar> ContactModelMultiple; | ||
| 238 | typedef ImpulseModelMultipleTpl<Scalar> ImpulseModelMultiple; | ||
| 239 | typedef StateMultibodyTpl<Scalar> StateMultibody; | ||
| 240 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 241 | |||
| 242 | template <template <typename Scalar> class Model> | ||
| 243 | 19521 | ResidualDataContactWrenchConeTpl(Model<Scalar>* const model, | |
| 244 | DataCollectorAbstract* const data) | ||
| 245 | 19521 | : Base(model, data) { | |
| 246 | // Check that proper shared data has been passed | ||
| 247 | 19521 | bool is_contact = true; | |
| 248 | 19521 | DataCollectorContactTpl<Scalar>* d1 = | |
| 249 |
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19521 | dynamic_cast<DataCollectorContactTpl<Scalar>*>(shared); |
| 250 | 19521 | DataCollectorImpulseTpl<Scalar>* d2 = | |
| 251 |
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19521 | dynamic_cast<DataCollectorImpulseTpl<Scalar>*>(shared); |
| 252 |
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19521 | if (d1 == NULL && d2 == NULL) { |
| 253 | ✗ | throw_pretty( | |
| 254 | "Invalid argument: the shared data should be derived from " | ||
| 255 | "DataCollectorContact or DataCollectorImpulse"); | ||
| 256 | } | ||
| 257 |
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19521 | if (d2 != NULL) { |
| 258 | 4383 | is_contact = false; | |
| 259 | } | ||
| 260 | |||
| 261 | // Avoids data casting at runtime | ||
| 262 | 19521 | const pinocchio::FrameIndex id = model->get_id(); | |
| 263 | 19521 | const boost::shared_ptr<StateMultibody>& state = | |
| 264 | boost::static_pointer_cast<StateMultibody>(model->get_state()); | ||
| 265 |
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19521 | std::string frame_name = state->get_pinocchio()->frames[id].name; |
| 266 | 19521 | bool found_contact = false; | |
| 267 |
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19521 | if (is_contact) { |
| 268 | 15138 | for (typename ContactModelMultiple::ContactDataContainer::iterator it = | |
| 269 | 15138 | d1->contacts->contacts.begin(); | |
| 270 |
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29412 | it != d1->contacts->contacts.end(); ++it) { |
| 271 |
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29412 | if (it->second->frame == id) { |
| 272 | 15138 | ContactData3DTpl<Scalar>* d3d = | |
| 273 |
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15138 | dynamic_cast<ContactData3DTpl<Scalar>*>(it->second.get()); |
| 274 |
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15138 | if (d3d != NULL) { |
| 275 | ✗ | found_contact = true; | |
| 276 | ✗ | contact = it->second; | |
| 277 | ✗ | throw_pretty( | |
| 278 | "Domain error: there isn't defined at least a 6d contact for " + | ||
| 279 | frame_name); | ||
| 280 | break; | ||
| 281 | } | ||
| 282 | 15138 | ContactData6DTpl<Scalar>* d6d = | |
| 283 |
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15138 | dynamic_cast<ContactData6DTpl<Scalar>*>(it->second.get()); |
| 284 |
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15138 | if (d6d != NULL) { |
| 285 | 15138 | found_contact = true; | |
| 286 | 15138 | contact = it->second; | |
| 287 | 15138 | break; | |
| 288 | } | ||
| 289 | ✗ | throw_pretty( | |
| 290 | "Domain error: there isn't defined at least a 6d contact for " + | ||
| 291 | frame_name); | ||
| 292 | break; | ||
| 293 | } | ||
| 294 | } | ||
| 295 | } else { | ||
| 296 | 4383 | for (typename ImpulseModelMultiple::ImpulseDataContainer::iterator it = | |
| 297 | 4383 | d2->impulses->impulses.begin(); | |
| 298 |
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8154 | it != d2->impulses->impulses.end(); ++it) { |
| 299 |
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8154 | if (it->second->frame == id) { |
| 300 | 4383 | ImpulseData3DTpl<Scalar>* d3d = | |
| 301 |
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4383 | dynamic_cast<ImpulseData3DTpl<Scalar>*>(it->second.get()); |
| 302 |
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4383 | if (d3d != NULL) { |
| 303 | ✗ | found_contact = true; | |
| 304 | ✗ | contact = it->second; | |
| 305 | ✗ | throw_pretty( | |
| 306 | "Domain error: there isn't defined at least a 6d contact for " + | ||
| 307 | frame_name); | ||
| 308 | break; | ||
| 309 | } | ||
| 310 | 4383 | ImpulseData6DTpl<Scalar>* d6d = | |
| 311 |
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4383 | dynamic_cast<ImpulseData6DTpl<Scalar>*>(it->second.get()); |
| 312 |
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4383 | if (d6d != NULL) { |
| 313 | 4383 | found_contact = true; | |
| 314 | 4383 | contact = it->second; | |
| 315 | 4383 | break; | |
| 316 | } | ||
| 317 | ✗ | throw_pretty( | |
| 318 | "Domain error: there isn't defined at least a 6d contact for " + | ||
| 319 | frame_name); | ||
| 320 | break; | ||
| 321 | } | ||
| 322 | } | ||
| 323 | } | ||
| 324 |
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19521 | if (!found_contact) { |
| 325 | ✗ | throw_pretty("Domain error: there isn't defined contact data for " + | |
| 326 | frame_name); | ||
| 327 | } | ||
| 328 | 19521 | } | |
| 329 | |||
| 330 | boost::shared_ptr<ForceDataAbstractTpl<Scalar> > | ||
| 331 | contact; //!< Contact force data | ||
| 332 | using Base::r; | ||
| 333 | using Base::Ru; | ||
| 334 | using Base::Rx; | ||
| 335 | using Base::shared; | ||
| 336 | }; | ||
| 337 | |||
| 338 | } // namespace crocoddyl | ||
| 339 | |||
| 340 | /* --- Details -------------------------------------------------------------- */ | ||
| 341 | /* --- Details -------------------------------------------------------------- */ | ||
| 342 | /* --- Details -------------------------------------------------------------- */ | ||
| 343 | #include "crocoddyl/multibody/residuals/contact-wrench-cone.hxx" | ||
| 344 | |||
| 345 | #endif // CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_WRENCH_CONE_HPP_ | ||
| 346 |