| Directory: | ./ |
|---|---|
| File: | include/crocoddyl/multibody/residuals/contact-wrench-cone.hxx |
| Date: | 2025-01-16 08:47:40 |
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| Lines: | 49 | 64 | 76.6% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2020-2023, University of Edinburgh, Heriot-Watt University | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #include "crocoddyl/multibody/residuals/contact-wrench-cone.hpp" | ||
| 10 | |||
| 11 | namespace crocoddyl { | ||
| 12 | |||
| 13 | template <typename Scalar> | ||
| 14 | 175 | ResidualModelContactWrenchConeTpl<Scalar>::ResidualModelContactWrenchConeTpl( | |
| 15 | boost::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id, | ||
| 16 | const WrenchCone& fref, const std::size_t nu, const bool fwddyn) | ||
| 17 | 175 | : Base(state, fref.get_nf() + 13, nu, fwddyn ? true : false, | |
| 18 | fwddyn ? true : false, true), | ||
| 19 | 175 | fwddyn_(fwddyn), | |
| 20 | 175 | update_jacobians_(true), | |
| 21 | 175 | id_(id), | |
| 22 |
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350 | fref_(fref) { |
| 23 |
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175 | if (static_cast<pinocchio::FrameIndex>(state->get_pinocchio()->nframes) <= |
| 24 | id) { | ||
| 25 | ✗ | throw_pretty( | |
| 26 | "Invalid argument: " | ||
| 27 | << "the frame index is wrong (it does not exist in the robot)"); | ||
| 28 | } | ||
| 29 | 175 | } | |
| 30 | |||
| 31 | template <typename Scalar> | ||
| 32 | 1 | ResidualModelContactWrenchConeTpl<Scalar>::ResidualModelContactWrenchConeTpl( | |
| 33 | boost::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id, | ||
| 34 | const WrenchCone& fref) | ||
| 35 | 1 | : Base(state, fref.get_nf() + 13), | |
| 36 | 1 | fwddyn_(true), | |
| 37 | 1 | update_jacobians_(true), | |
| 38 | 1 | id_(id), | |
| 39 |
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1 | fref_(fref) { |
| 40 |
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1 | if (static_cast<pinocchio::FrameIndex>(state->get_pinocchio()->nframes) <= |
| 41 | id) { | ||
| 42 | ✗ | throw_pretty( | |
| 43 | "Invalid argument: " | ||
| 44 | << "the frame index is wrong (it does not exist in the robot)"); | ||
| 45 | } | ||
| 46 | 1 | } | |
| 47 | |||
| 48 | template <typename Scalar> | ||
| 49 | 356 | ResidualModelContactWrenchConeTpl< | |
| 50 | 356 | Scalar>::~ResidualModelContactWrenchConeTpl() {} | |
| 51 | |||
| 52 | template <typename Scalar> | ||
| 53 | 17585 | void ResidualModelContactWrenchConeTpl<Scalar>::calc( | |
| 54 | const boost::shared_ptr<ResidualDataAbstract>& data, | ||
| 55 | const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) { | ||
| 56 | 17585 | Data* d = static_cast<Data*>(data.get()); | |
| 57 | |||
| 58 | // Compute the residual of the wrench cone. Note that we need to transform the | ||
| 59 | // wrench to the contact frame | ||
| 60 |
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17585 | data->r.noalias() = fref_.get_A() * d->contact->f.toVector(); |
| 61 | 17585 | } | |
| 62 | |||
| 63 | template <typename Scalar> | ||
| 64 | 5872 | void ResidualModelContactWrenchConeTpl<Scalar>::calc( | |
| 65 | const boost::shared_ptr<ResidualDataAbstract>& data, | ||
| 66 | const Eigen::Ref<const VectorXs>&) { | ||
| 67 | 5872 | data->r.setZero(); | |
| 68 | 5872 | } | |
| 69 | |||
| 70 | template <typename Scalar> | ||
| 71 | 1393 | void ResidualModelContactWrenchConeTpl<Scalar>::calcDiff( | |
| 72 | const boost::shared_ptr<ResidualDataAbstract>& data, | ||
| 73 | const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) { | ||
| 74 |
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1393 | if (fwddyn_ || update_jacobians_) { |
| 75 | 766 | updateJacobians(data); | |
| 76 | } | ||
| 77 | 1393 | } | |
| 78 | |||
| 79 | template <typename Scalar> | ||
| 80 | 91 | void ResidualModelContactWrenchConeTpl<Scalar>::calcDiff( | |
| 81 | const boost::shared_ptr<ResidualDataAbstract>& data, | ||
| 82 | const Eigen::Ref<const VectorXs>&) { | ||
| 83 | 91 | data->Rx.setZero(); | |
| 84 | 91 | } | |
| 85 | |||
| 86 | template <typename Scalar> | ||
| 87 | boost::shared_ptr<ResidualDataAbstractTpl<Scalar> > | ||
| 88 | 19521 | ResidualModelContactWrenchConeTpl<Scalar>::createData( | |
| 89 | DataCollectorAbstract* const data) { | ||
| 90 |
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39042 | boost::shared_ptr<ResidualDataAbstract> d = boost::allocate_shared<Data>( |
| 91 | 19521 | Eigen::aligned_allocator<Data>(), this, data); | |
| 92 |
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19521 | if (!fwddyn_) { |
| 93 |
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7156 | updateJacobians(d); |
| 94 | } | ||
| 95 | 19521 | return d; | |
| 96 | } | ||
| 97 | |||
| 98 | template <typename Scalar> | ||
| 99 | 7922 | void ResidualModelContactWrenchConeTpl<Scalar>::updateJacobians( | |
| 100 | const boost::shared_ptr<ResidualDataAbstract>& data) { | ||
| 101 | 7922 | Data* d = static_cast<Data*>(data.get()); | |
| 102 | |||
| 103 | 7922 | const MatrixXs& df_dx = d->contact->df_dx; | |
| 104 | 7922 | const MatrixXs& df_du = d->contact->df_du; | |
| 105 | 7922 | const MatrixX6s& A = fref_.get_A(); | |
| 106 |
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7922 | data->Rx.noalias() = A * df_dx; |
| 107 |
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7922 | data->Ru.noalias() = A * df_du; |
| 108 | 7922 | update_jacobians_ = false; | |
| 109 | 7922 | } | |
| 110 | |||
| 111 | template <typename Scalar> | ||
| 112 | ✗ | void ResidualModelContactWrenchConeTpl<Scalar>::print(std::ostream& os) const { | |
| 113 | ✗ | boost::shared_ptr<StateMultibody> s = | |
| 114 | ✗ | boost::static_pointer_cast<StateMultibody>(state_); | |
| 115 | ✗ | const Eigen::IOFormat fmt(2, Eigen::DontAlignCols, ", ", ";\n", "", "", "[", | |
| 116 | "]"); | ||
| 117 | os << "ResidualModelContactWrenchCone {frame=" | ||
| 118 | ✗ | << s->get_pinocchio()->frames[id_].name << ", mu=" << fref_.get_mu() | |
| 119 | ✗ | << ", box=" << fref_.get_box().transpose().format(fmt) << "}"; | |
| 120 | } | ||
| 121 | |||
| 122 | template <typename Scalar> | ||
| 123 | bool ResidualModelContactWrenchConeTpl<Scalar>::is_fwddyn() const { | ||
| 124 | return fwddyn_; | ||
| 125 | } | ||
| 126 | |||
| 127 | template <typename Scalar> | ||
| 128 | 19521 | pinocchio::FrameIndex ResidualModelContactWrenchConeTpl<Scalar>::get_id() | |
| 129 | const { | ||
| 130 | 19521 | return id_; | |
| 131 | } | ||
| 132 | |||
| 133 | template <typename Scalar> | ||
| 134 | const WrenchConeTpl<Scalar>& | ||
| 135 | ✗ | ResidualModelContactWrenchConeTpl<Scalar>::get_reference() const { | |
| 136 | ✗ | return fref_; | |
| 137 | } | ||
| 138 | |||
| 139 | template <typename Scalar> | ||
| 140 | ✗ | void ResidualModelContactWrenchConeTpl<Scalar>::set_id( | |
| 141 | const pinocchio::FrameIndex id) { | ||
| 142 | ✗ | id_ = id; | |
| 143 | } | ||
| 144 | |||
| 145 | template <typename Scalar> | ||
| 146 | ✗ | void ResidualModelContactWrenchConeTpl<Scalar>::set_reference( | |
| 147 | const WrenchCone& reference) { | ||
| 148 | ✗ | fref_ = reference; | |
| 149 | ✗ | update_jacobians_ = true; | |
| 150 | } | ||
| 151 | |||
| 152 | } // namespace crocoddyl | ||
| 153 |