| Directory: | ./ |
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| File: | include/crocoddyl/multibody/numdiff/contact.hpp |
| Date: | 2025-01-16 08:47:40 |
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| Lines: | 11 | 11 | 100.0% |
| Branches: | 9 | 16 | 56.2% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2023, University of Edinburgh, LAAS-CNRS, | ||
| 5 | // Heriot-Watt University | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | #ifndef CROCODDYL_MULTIBODY_NUMDIFF_CONTACT_HPP_ | ||
| 11 | #define CROCODDYL_MULTIBODY_NUMDIFF_CONTACT_HPP_ | ||
| 12 | |||
| 13 | #include <boost/function.hpp> | ||
| 14 | |||
| 15 | #include "crocoddyl/multibody/contact-base.hpp" | ||
| 16 | #include "crocoddyl/multibody/fwd.hpp" | ||
| 17 | |||
| 18 | namespace crocoddyl { | ||
| 19 | |||
| 20 | template <typename _Scalar> | ||
| 21 | class ContactModelNumDiffTpl : public ContactModelAbstractTpl<_Scalar> { | ||
| 22 | public: | ||
| 23 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 24 | |||
| 25 | typedef _Scalar Scalar; | ||
| 26 | typedef ContactDataAbstractTpl<Scalar> ContactDataAbstract; | ||
| 27 | typedef ContactModelAbstractTpl<Scalar> Base; | ||
| 28 | typedef ContactDataNumDiffTpl<Scalar> Data; | ||
| 29 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 30 | typedef typename MathBaseTpl<Scalar>::VectorXs VectorXs; | ||
| 31 | typedef boost::function<void(const VectorXs&, const VectorXs&)> | ||
| 32 | ReevaluationFunction; | ||
| 33 | |||
| 34 | /** | ||
| 35 | * @brief Construct a new ContactModelNumDiff object from a | ||
| 36 | * ContactModelAbstract. | ||
| 37 | * | ||
| 38 | * @param model | ||
| 39 | */ | ||
| 40 | explicit ContactModelNumDiffTpl(const boost::shared_ptr<Base>& model); | ||
| 41 | |||
| 42 | /** | ||
| 43 | * @brief Default destructor of the ContactModelNumDiff object | ||
| 44 | */ | ||
| 45 | virtual ~ContactModelNumDiffTpl(); | ||
| 46 | |||
| 47 | /** | ||
| 48 | * @brief @copydoc ContactModelAbstract::calc() | ||
| 49 | */ | ||
| 50 | void calc(const boost::shared_ptr<ContactDataAbstract>& data, | ||
| 51 | const Eigen::Ref<const VectorXs>& x); | ||
| 52 | |||
| 53 | /** | ||
| 54 | * @brief @copydoc ContactModelAbstract::calcDiff() | ||
| 55 | */ | ||
| 56 | void calcDiff(const boost::shared_ptr<ContactDataAbstract>& data, | ||
| 57 | const Eigen::Ref<const VectorXs>& x); | ||
| 58 | |||
| 59 | /** | ||
| 60 | * @brief @copydoc ContactModelAbstract::updateForce() | ||
| 61 | */ | ||
| 62 | void updateForce(const boost::shared_ptr<ContactDataAbstract>& data, | ||
| 63 | const VectorXs& force); | ||
| 64 | |||
| 65 | /** | ||
| 66 | * @brief Create a Data object | ||
| 67 | * | ||
| 68 | * @param data is the Pinocchio data | ||
| 69 | * @return boost::shared_ptr<ContactModelAbstract> | ||
| 70 | */ | ||
| 71 | boost::shared_ptr<ContactDataAbstract> createData( | ||
| 72 | pinocchio::DataTpl<Scalar>* const data); | ||
| 73 | |||
| 74 | /** | ||
| 75 | * @brief Return the acton model that we use to numerical differentiate | ||
| 76 | */ | ||
| 77 | const boost::shared_ptr<Base>& get_model() const; | ||
| 78 | |||
| 79 | /** | ||
| 80 | * @brief Return the disturbance constant used in the numerical | ||
| 81 | * differentiation routine | ||
| 82 | */ | ||
| 83 | const Scalar get_disturbance() const; | ||
| 84 | |||
| 85 | /** | ||
| 86 | * @brief Modify the disturbance constant used in the numerical | ||
| 87 | * differentiation routine | ||
| 88 | */ | ||
| 89 | void set_disturbance(const Scalar disturbance); | ||
| 90 | |||
| 91 | /** | ||
| 92 | * @brief Register functions that take a pinocchio model, a pinocchio data, a | ||
| 93 | * state and a control. The updated data is used to evaluate of the gradient | ||
| 94 | * and Hessian. | ||
| 95 | * | ||
| 96 | * @param reevals are the registered functions. | ||
| 97 | */ | ||
| 98 | void set_reevals(const std::vector<ReevaluationFunction>& reevals); | ||
| 99 | |||
| 100 | protected: | ||
| 101 | using Base::nc_; | ||
| 102 | using Base::nu_; | ||
| 103 | using Base::state_; | ||
| 104 | |||
| 105 | boost::shared_ptr<Base> model_; //!< contact model to differentiate | ||
| 106 | Scalar e_jac_; //!< Constant used for computing disturbances in Jacobian | ||
| 107 | //!< calculation | ||
| 108 | std::vector<ReevaluationFunction> | ||
| 109 | reevals_; //!< functions that need execution before calc or calcDiff | ||
| 110 | |||
| 111 | private: | ||
| 112 | /** | ||
| 113 | * @brief Make sure that when we finite difference the Cost Model, the user | ||
| 114 | * does not face unknown behaviour because of the finite differencing of a | ||
| 115 | * quaternion around pi. This behaviour might occur if state cost in | ||
| 116 | * floating systems. | ||
| 117 | * | ||
| 118 | * For full discussions see issue | ||
| 119 | * https://gepgitlab.laas.fr/loco-3d/crocoddyl/issues/139 | ||
| 120 | * | ||
| 121 | * @param x is the state at which the check is performed. | ||
| 122 | */ | ||
| 123 | void assertStableStateFD(const Eigen::Ref<const VectorXs>& /*x*/); | ||
| 124 | }; | ||
| 125 | |||
| 126 | template <typename _Scalar> | ||
| 127 | struct ContactDataNumDiffTpl : public ContactDataAbstractTpl<_Scalar> { | ||
| 128 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 129 | |||
| 130 | typedef _Scalar Scalar; | ||
| 131 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 132 | typedef ContactDataAbstractTpl<Scalar> Base; | ||
| 133 | typedef typename MathBaseTpl<Scalar>::VectorXs VectorXs; | ||
| 134 | |||
| 135 | template <template <typename Scalar> class Model> | ||
| 136 | 50 | explicit ContactDataNumDiffTpl(Model<Scalar>* const model, | |
| 137 | pinocchio::DataTpl<Scalar>* const data) | ||
| 138 | : Base(model, data), | ||
| 139 |
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50 | dx(model->get_state()->get_ndx()), |
| 140 |
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100 | xp(model->get_state()->get_nx()) { |
| 141 |
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50 | dx.setZero(); |
| 142 |
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50 | xp.setZero(); |
| 143 | |||
| 144 | 50 | const std::size_t ndx = model->get_model()->get_state()->get_ndx(); | |
| 145 |
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50 | data_0 = model->get_model()->createData(data); |
| 146 |
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2070 | for (std::size_t i = 0; i < ndx; ++i) { |
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2020 | data_x.push_back(model->get_model()->createData(data)); |
| 148 | } | ||
| 149 | 50 | } | |
| 150 | |||
| 151 | 100 | virtual ~ContactDataNumDiffTpl() {} | |
| 152 | |||
| 153 | using Base::a0; | ||
| 154 | using Base::da0_dx; | ||
| 155 | using Base::f; | ||
| 156 | using Base::pinocchio; | ||
| 157 | |||
| 158 | Scalar x_norm; //!< Norm of the state vector | ||
| 159 | Scalar | ||
| 160 | xh_jac; //!< Disturbance value used for computing \f$ \ell_\mathbf{x} \f$ | ||
| 161 | VectorXs dx; //!< State disturbance. | ||
| 162 | VectorXs xp; //!< The integrated state from the disturbance on one DoF "\f$ | ||
| 163 | //!< \int x dx_i \f$". | ||
| 164 | boost::shared_ptr<Base> data_0; //!< The data at the approximation point. | ||
| 165 | std::vector<boost::shared_ptr<Base> > | ||
| 166 | data_x; //!< The temporary data associated with the state variation. | ||
| 167 | }; | ||
| 168 | |||
| 169 | } // namespace crocoddyl | ||
| 170 | |||
| 171 | /* --- Details -------------------------------------------------------------- */ | ||
| 172 | /* --- Details -------------------------------------------------------------- */ | ||
| 173 | /* --- Details -------------------------------------------------------------- */ | ||
| 174 | #include "crocoddyl/multibody/numdiff/contact.hxx" | ||
| 175 | |||
| 176 | #endif // CROCODDYL_MULTIBODY_NUMDIFF_CONTACT_HPP_ | ||
| 177 |