| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2023, University of Edinburgh, Heriot-Watt University | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #include "contact.hpp" | ||
| 10 | |||
| 11 | #include "crocoddyl/multibody/contacts/contact-1d.hpp" | ||
| 12 | #include "crocoddyl/multibody/contacts/contact-2d.hpp" | ||
| 13 | #include "crocoddyl/multibody/contacts/contact-3d.hpp" | ||
| 14 | #include "crocoddyl/multibody/contacts/contact-6d.hpp" | ||
| 15 | |||
| 16 | namespace crocoddyl { | ||
| 17 | namespace unittest { | ||
| 18 | |||
| 19 | const std::vector<ContactModelTypes::Type> ContactModelTypes::all( | ||
| 20 | ContactModelTypes::init_all()); | ||
| 21 | |||
| 22 | ✗ | std::ostream& operator<<(std::ostream& os, | |
| 23 | const ContactModelTypes::Type& type) { | ||
| 24 | ✗ | switch (type) { | |
| 25 | ✗ | case ContactModelTypes::ContactModel1D_LOCAL: | |
| 26 | ✗ | os << "ContactModel1D_LOCAL"; | |
| 27 | ✗ | break; | |
| 28 | ✗ | case ContactModelTypes::ContactModel1D_WORLD: | |
| 29 | ✗ | os << "ContactModel1D_WORLD"; | |
| 30 | ✗ | break; | |
| 31 | ✗ | case ContactModelTypes::ContactModel1D_LWA: | |
| 32 | ✗ | os << "ContactModel1D_LWA"; | |
| 33 | ✗ | break; | |
| 34 | ✗ | case ContactModelTypes::ContactModel2D: | |
| 35 | ✗ | os << "ContactModel2D"; | |
| 36 | ✗ | break; | |
| 37 | ✗ | case ContactModelTypes::ContactModel3D_LOCAL: | |
| 38 | ✗ | os << "ContactModel3D_LOCAL"; | |
| 39 | ✗ | break; | |
| 40 | ✗ | case ContactModelTypes::ContactModel3D_WORLD: | |
| 41 | ✗ | os << "ContactModel3D_WORLD"; | |
| 42 | ✗ | break; | |
| 43 | ✗ | case ContactModelTypes::ContactModel3D_LWA: | |
| 44 | ✗ | os << "ContactModel3D_LWA"; | |
| 45 | ✗ | break; | |
| 46 | ✗ | case ContactModelTypes::ContactModel6D_LOCAL: | |
| 47 | ✗ | os << "ContactModel6D_LOCAL"; | |
| 48 | ✗ | break; | |
| 49 | ✗ | case ContactModelTypes::ContactModel6D_WORLD: | |
| 50 | ✗ | os << "ContactModel6D_WORLD"; | |
| 51 | ✗ | break; | |
| 52 | ✗ | case ContactModelTypes::ContactModel6D_LWA: | |
| 53 | ✗ | os << "ContactModel6D_LWA"; | |
| 54 | ✗ | break; | |
| 55 | ✗ | case ContactModelTypes::NbContactModelTypes: | |
| 56 | ✗ | os << "NbContactModelTypes"; | |
| 57 | ✗ | break; | |
| 58 | ✗ | default: | |
| 59 | ✗ | os << "Unknown type"; | |
| 60 | ✗ | break; | |
| 61 | } | ||
| 62 | ✗ | return os; | |
| 63 | } | ||
| 64 | |||
| 65 | ✗ | ContactModelFactory::ContactModelFactory() {} | |
| 66 | ✗ | ContactModelFactory::~ContactModelFactory() {} | |
| 67 | |||
| 68 | ✗ | std::shared_ptr<crocoddyl::ContactModelAbstract> ContactModelFactory::create( | |
| 69 | ContactModelTypes::Type contact_type, PinocchioModelTypes::Type model_type, | ||
| 70 | Eigen::Vector2d gains, const std::string frame_name, std::size_t nu) const { | ||
| 71 | ✗ | PinocchioModelFactory model_factory(model_type); | |
| 72 | std::shared_ptr<crocoddyl::StateMultibody> state = | ||
| 73 | ✗ | std::make_shared<crocoddyl::StateMultibody>(model_factory.create()); | |
| 74 | ✗ | std::shared_ptr<crocoddyl::ContactModelAbstract> contact; | |
| 75 | ✗ | std::size_t frame_id = 0; | |
| 76 | ✗ | if (frame_name == "") { | |
| 77 | ✗ | frame_id = model_factory.get_frame_ids()[0]; | |
| 78 | } else { | ||
| 79 | ✗ | frame_id = state->get_pinocchio()->getFrameId(frame_name); | |
| 80 | } | ||
| 81 | ✗ | if (nu == std::numeric_limits<std::size_t>::max()) { | |
| 82 | ✗ | nu = state->get_nv(); | |
| 83 | } | ||
| 84 | ✗ | switch (contact_type) { | |
| 85 | ✗ | case ContactModelTypes::ContactModel1D_LOCAL: { | |
| 86 | ✗ | pinocchio::SE3 M = pinocchio::SE3::Random(); | |
| 87 | ✗ | gains[0] = | |
| 88 | 0; // TODO(cmastalli): remove hard-coded zero when fixed the contact | ||
| 89 | ✗ | contact = std::make_shared<crocoddyl::ContactModel1D>( | |
| 90 | ✗ | state, frame_id, 0., pinocchio::ReferenceFrame::LOCAL, M.rotation(), | |
| 91 | ✗ | nu, gains); | |
| 92 | ✗ | break; | |
| 93 | } | ||
| 94 | ✗ | case ContactModelTypes::ContactModel1D_WORLD: { | |
| 95 | ✗ | pinocchio::SE3 M = pinocchio::SE3::Random(); | |
| 96 | ✗ | gains[0] = | |
| 97 | 0; // TODO(cmastalli): remove hard-coded zero when fixed the contact | ||
| 98 | ✗ | contact = std::make_shared<crocoddyl::ContactModel1D>( | |
| 99 | ✗ | state, frame_id, 0., pinocchio::ReferenceFrame::WORLD, M.rotation(), | |
| 100 | ✗ | nu, gains); | |
| 101 | ✗ | break; | |
| 102 | } | ||
| 103 | ✗ | case ContactModelTypes::ContactModel1D_LWA: { | |
| 104 | ✗ | pinocchio::SE3 M = pinocchio::SE3::Random(); | |
| 105 | ✗ | gains[0] = | |
| 106 | 0; // TODO(cmastalli): remove hard-coded zero when fixed the contact | ||
| 107 | ✗ | contact = std::make_shared<crocoddyl::ContactModel1D>( | |
| 108 | ✗ | state, frame_id, 0., pinocchio::ReferenceFrame::LOCAL_WORLD_ALIGNED, | |
| 109 | ✗ | M.rotation(), nu, gains); | |
| 110 | ✗ | break; | |
| 111 | } | ||
| 112 | ✗ | case ContactModelTypes::ContactModel2D: | |
| 113 | ✗ | gains[0] = | |
| 114 | 0; // TODO(cmastalli): remove hard-coded zero when fixed the contact | ||
| 115 | ✗ | contact = std::make_shared<crocoddyl::ContactModel2D>( | |
| 116 | ✗ | state, frame_id, Eigen::Vector2d::Zero(), nu, gains); | |
| 117 | ✗ | break; | |
| 118 | ✗ | case ContactModelTypes::ContactModel3D_LOCAL: | |
| 119 | ✗ | contact = std::make_shared<crocoddyl::ContactModel3D>( | |
| 120 | ✗ | state, frame_id, Eigen::Vector3d::Zero(), | |
| 121 | ✗ | pinocchio::ReferenceFrame::LOCAL, nu, gains); | |
| 122 | ✗ | break; | |
| 123 | ✗ | case ContactModelTypes::ContactModel3D_WORLD: | |
| 124 | ✗ | contact = std::make_shared<crocoddyl::ContactModel3D>( | |
| 125 | ✗ | state, frame_id, Eigen::Vector3d::Zero(), | |
| 126 | ✗ | pinocchio::ReferenceFrame::WORLD, nu, gains); | |
| 127 | ✗ | break; | |
| 128 | ✗ | case ContactModelTypes::ContactModel3D_LWA: | |
| 129 | ✗ | contact = std::make_shared<crocoddyl::ContactModel3D>( | |
| 130 | ✗ | state, frame_id, Eigen::Vector3d::Zero(), | |
| 131 | ✗ | pinocchio::ReferenceFrame::LOCAL_WORLD_ALIGNED, nu, gains); | |
| 132 | ✗ | break; | |
| 133 | ✗ | case ContactModelTypes::ContactModel6D_LOCAL: | |
| 134 | ✗ | contact = std::make_shared<crocoddyl::ContactModel6D>( | |
| 135 | ✗ | state, frame_id, pinocchio::SE3::Identity(), | |
| 136 | ✗ | pinocchio::ReferenceFrame::LOCAL, nu, gains); | |
| 137 | ✗ | break; | |
| 138 | ✗ | case ContactModelTypes::ContactModel6D_WORLD: | |
| 139 | ✗ | contact = std::make_shared<crocoddyl::ContactModel6D>( | |
| 140 | ✗ | state, frame_id, pinocchio::SE3::Identity(), | |
| 141 | ✗ | pinocchio::ReferenceFrame::WORLD, nu, gains); | |
| 142 | ✗ | break; | |
| 143 | ✗ | case ContactModelTypes::ContactModel6D_LWA: | |
| 144 | ✗ | contact = std::make_shared<crocoddyl::ContactModel6D>( | |
| 145 | ✗ | state, frame_id, pinocchio::SE3::Identity(), | |
| 146 | ✗ | pinocchio::ReferenceFrame::LOCAL_WORLD_ALIGNED, nu, gains); | |
| 147 | ✗ | break; | |
| 148 | ✗ | default: | |
| 149 | ✗ | throw_pretty(__FILE__ ": Wrong ContactModelTypes::Type given"); | |
| 150 | break; | ||
| 151 | } | ||
| 152 | ✗ | return contact; | |
| 153 | ✗ | } | |
| 154 | |||
| 155 | ✗ | std::shared_ptr<crocoddyl::ContactModelAbstract> create_random_contact() { | |
| 156 | static bool once = true; | ||
| 157 | ✗ | if (once) { | |
| 158 | ✗ | srand((unsigned)time(NULL)); | |
| 159 | ✗ | once = false; | |
| 160 | } | ||
| 161 | ✗ | std::shared_ptr<crocoddyl::ContactModelAbstract> contact; | |
| 162 | ✗ | ContactModelFactory factory; | |
| 163 | ✗ | if (rand() % 4 == 0) { | |
| 164 | ✗ | contact = factory.create(ContactModelTypes::ContactModel1D_LOCAL, | |
| 165 | PinocchioModelTypes::RandomHumanoid, | ||
| 166 | ✗ | Eigen::Vector2d::Random()); | |
| 167 | ✗ | } else if (rand() % 4 == 1) { | |
| 168 | ✗ | contact = factory.create(ContactModelTypes::ContactModel2D, | |
| 169 | PinocchioModelTypes::RandomHumanoid, | ||
| 170 | ✗ | Eigen::Vector2d::Random()); | |
| 171 | ✗ | } else if (rand() % 4 == 2) { | |
| 172 | ✗ | contact = factory.create(ContactModelTypes::ContactModel3D_LOCAL, | |
| 173 | PinocchioModelTypes::RandomHumanoid, | ||
| 174 | ✗ | Eigen::Vector2d::Random()); | |
| 175 | } else { | ||
| 176 | ✗ | contact = factory.create(ContactModelTypes::ContactModel6D_LOCAL, | |
| 177 | PinocchioModelTypes::RandomHumanoid, | ||
| 178 | ✗ | Eigen::Vector2d::Random()); | |
| 179 | } | ||
| 180 | ✗ | return contact; | |
| 181 | ✗ | } | |
| 182 | |||
| 183 | } // namespace unittest | ||
| 184 | } // namespace crocoddyl | ||
| 185 |