| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, 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 | #include "crocoddyl/multibody/numdiff/contact.hpp" | ||
| 11 | |||
| 12 | namespace crocoddyl { | ||
| 13 | |||
| 14 | template <typename Scalar> | ||
| 15 | ✗ | ContactModelNumDiffTpl<Scalar>::ContactModelNumDiffTpl( | |
| 16 | const std::shared_ptr<Base>& model) | ||
| 17 | : Base(model->get_state(), model->get_type(), model->get_nc(), | ||
| 18 | model->get_nu()), | ||
| 19 | ✗ | model_(model), | |
| 20 | ✗ | e_jac_(sqrt(Scalar(2.0) * std::numeric_limits<Scalar>::epsilon())) {} | |
| 21 | |||
| 22 | template <typename Scalar> | ||
| 23 | ✗ | void ContactModelNumDiffTpl<Scalar>::calc( | |
| 24 | const std::shared_ptr<ContactDataAbstract>& data, | ||
| 25 | const Eigen::Ref<const VectorXs>& x) { | ||
| 26 | ✗ | std::shared_ptr<Data> d = std::static_pointer_cast<Data>(data); | |
| 27 | ✗ | model_->calc(d->data_0, x); | |
| 28 | ✗ | d->a0 = d->data_0->a0; | |
| 29 | ✗ | } | |
| 30 | |||
| 31 | template <typename Scalar> | ||
| 32 | ✗ | void ContactModelNumDiffTpl<Scalar>::calcDiff( | |
| 33 | const std::shared_ptr<ContactDataAbstract>& data, | ||
| 34 | const Eigen::Ref<const VectorXs>& x) { | ||
| 35 | ✗ | std::shared_ptr<Data> d = std::static_pointer_cast<Data>(data); | |
| 36 | |||
| 37 | ✗ | const VectorXs& a0 = d->a0; | |
| 38 | |||
| 39 | ✗ | assertStableStateFD(x); | |
| 40 | |||
| 41 | // Computing the d contact(x,u) / dx | ||
| 42 | ✗ | model_->get_state()->diff(model_->get_state()->zero(), x, d->dx); | |
| 43 | ✗ | d->x_norm = d->dx.norm(); | |
| 44 | ✗ | d->dx.setZero(); | |
| 45 | ✗ | d->xh_jac = e_jac_ * std::max(Scalar(1.), d->x_norm); | |
| 46 | ✗ | for (std::size_t ix = 0; ix < state_->get_ndx(); ++ix) { | |
| 47 | ✗ | d->dx(ix) = d->xh_jac; | |
| 48 | ✗ | model_->get_state()->integrate(x, d->dx, d->xp); | |
| 49 | // call the update function on the pinocchio data | ||
| 50 | ✗ | for (size_t i = 0; i < reevals_.size(); ++i) { | |
| 51 | ✗ | reevals_[i](d->xp, VectorXs::Zero(model_->get_nu())); | |
| 52 | } | ||
| 53 | ✗ | model_->calc(d->data_x[ix], d->xp); | |
| 54 | ✗ | d->da0_dx.col(ix) = (d->data_x[ix]->a0 - a0) / d->xh_jac; | |
| 55 | ✗ | d->dx(ix) = Scalar(0.); | |
| 56 | } | ||
| 57 | ✗ | } | |
| 58 | |||
| 59 | template <typename Scalar> | ||
| 60 | ✗ | void ContactModelNumDiffTpl<Scalar>::updateForce( | |
| 61 | const std::shared_ptr<ContactDataAbstract>& data, const VectorXs& force) { | ||
| 62 | ✗ | if (static_cast<std::size_t>(force.size()) != model_->get_nc()) { | |
| 63 | ✗ | throw_pretty("Invalid argument: " | |
| 64 | << "lambda has wrong dimension (it should be " | ||
| 65 | << model_->get_nc() << ")"); | ||
| 66 | } | ||
| 67 | |||
| 68 | ✗ | std::shared_ptr<Data> d = std::static_pointer_cast<Data>(data); | |
| 69 | |||
| 70 | ✗ | model_->updateForce(d->data_0, force); | |
| 71 | ✗ | } | |
| 72 | |||
| 73 | template <typename Scalar> | ||
| 74 | std::shared_ptr<ContactDataAbstractTpl<Scalar> > | ||
| 75 | ✗ | ContactModelNumDiffTpl<Scalar>::createData( | |
| 76 | pinocchio::DataTpl<Scalar>* const data) { | ||
| 77 | ✗ | return std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this, | |
| 78 | ✗ | data); | |
| 79 | } | ||
| 80 | |||
| 81 | template <typename Scalar> | ||
| 82 | template <typename NewScalar> | ||
| 83 | ✗ | ContactModelNumDiffTpl<NewScalar> ContactModelNumDiffTpl<Scalar>::cast() const { | |
| 84 | typedef ContactModelNumDiffTpl<NewScalar> ReturnType; | ||
| 85 | ✗ | ReturnType res(model_->template cast<NewScalar>()); | |
| 86 | ✗ | return res; | |
| 87 | } | ||
| 88 | |||
| 89 | template <typename Scalar> | ||
| 90 | const std::shared_ptr<ContactModelAbstractTpl<Scalar> >& | ||
| 91 | ✗ | ContactModelNumDiffTpl<Scalar>::get_model() const { | |
| 92 | ✗ | return model_; | |
| 93 | } | ||
| 94 | |||
| 95 | template <typename Scalar> | ||
| 96 | ✗ | const Scalar ContactModelNumDiffTpl<Scalar>::get_disturbance() const { | |
| 97 | ✗ | return e_jac_; | |
| 98 | } | ||
| 99 | |||
| 100 | template <typename Scalar> | ||
| 101 | void ContactModelNumDiffTpl<Scalar>::set_disturbance(const Scalar disturbance) { | ||
| 102 | if (disturbance < Scalar(0.)) { | ||
| 103 | throw_pretty("Invalid argument: " << "Disturbance constant is positive"); | ||
| 104 | } | ||
| 105 | e_jac_ = disturbance; | ||
| 106 | } | ||
| 107 | |||
| 108 | template <typename Scalar> | ||
| 109 | ✗ | void ContactModelNumDiffTpl<Scalar>::set_reevals( | |
| 110 | const std::vector<ReevaluationFunction>& reevals) { | ||
| 111 | ✗ | reevals_ = reevals; | |
| 112 | ✗ | } | |
| 113 | |||
| 114 | template <typename Scalar> | ||
| 115 | ✗ | void ContactModelNumDiffTpl<Scalar>::assertStableStateFD( | |
| 116 | const Eigen::Ref<const VectorXs>& /*x*/) { | ||
| 117 | // do nothing in the general case | ||
| 118 | ✗ | } | |
| 119 | |||
| 120 | } // namespace crocoddyl | ||
| 121 |