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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2025, University of Edinburgh, LAAS-CNRS, |
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// Heriot-Watt University |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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#include "crocoddyl/multibody/numdiff/contact.hpp" |
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namespace crocoddyl { |
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template <typename Scalar> |
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ContactModelNumDiffTpl<Scalar>::ContactModelNumDiffTpl( |
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const std::shared_ptr<Base>& model) |
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: Base(model->get_state(), model->get_type(), model->get_nc(), |
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model->get_nu()), |
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model_(model), |
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e_jac_(sqrt(Scalar(2.0) * std::numeric_limits<Scalar>::epsilon())) {} |
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template <typename Scalar> |
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void ContactModelNumDiffTpl<Scalar>::calc( |
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const std::shared_ptr<ContactDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x) { |
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std::shared_ptr<Data> d = std::static_pointer_cast<Data>(data); |
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model_->calc(d->data_0, x); |
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d->a0 = d->data_0->a0; |
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} |
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template <typename Scalar> |
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void ContactModelNumDiffTpl<Scalar>::calcDiff( |
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const std::shared_ptr<ContactDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x) { |
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std::shared_ptr<Data> d = std::static_pointer_cast<Data>(data); |
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const VectorXs& a0 = d->a0; |
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assertStableStateFD(x); |
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// Computing the d contact(x,u) / dx |
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model_->get_state()->diff(model_->get_state()->zero(), x, d->dx); |
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d->x_norm = d->dx.norm(); |
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d->dx.setZero(); |
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d->xh_jac = e_jac_ * std::max(Scalar(1.), d->x_norm); |
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for (std::size_t ix = 0; ix < state_->get_ndx(); ++ix) { |
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d->dx(ix) = d->xh_jac; |
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model_->get_state()->integrate(x, d->dx, d->xp); |
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// call the update function on the pinocchio data |
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for (size_t i = 0; i < reevals_.size(); ++i) { |
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reevals_[i](d->xp, VectorXs::Zero(model_->get_nu())); |
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} |
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model_->calc(d->data_x[ix], d->xp); |
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d->da0_dx.col(ix) = (d->data_x[ix]->a0 - a0) / d->xh_jac; |
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d->dx(ix) = Scalar(0.); |
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} |
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} |
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template <typename Scalar> |
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void ContactModelNumDiffTpl<Scalar>::updateForce( |
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const std::shared_ptr<ContactDataAbstract>& data, const VectorXs& force) { |
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if (static_cast<std::size_t>(force.size()) != model_->get_nc()) { |
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throw_pretty("Invalid argument: " |
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<< "lambda has wrong dimension (it should be " |
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<< model_->get_nc() << ")"); |
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} |
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std::shared_ptr<Data> d = std::static_pointer_cast<Data>(data); |
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model_->updateForce(d->data_0, force); |
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} |
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template <typename Scalar> |
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std::shared_ptr<ContactDataAbstractTpl<Scalar> > |
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ContactModelNumDiffTpl<Scalar>::createData( |
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pinocchio::DataTpl<Scalar>* const data) { |
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return std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this, |
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data); |
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} |
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template <typename Scalar> |
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template <typename NewScalar> |
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ContactModelNumDiffTpl<NewScalar> ContactModelNumDiffTpl<Scalar>::cast() const { |
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typedef ContactModelNumDiffTpl<NewScalar> ReturnType; |
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ReturnType res(model_->template cast<NewScalar>()); |
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return res; |
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} |
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template <typename Scalar> |
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const std::shared_ptr<ContactModelAbstractTpl<Scalar> >& |
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ContactModelNumDiffTpl<Scalar>::get_model() const { |
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return model_; |
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} |
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template <typename Scalar> |
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const Scalar ContactModelNumDiffTpl<Scalar>::get_disturbance() const { |
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return e_jac_; |
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} |
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template <typename Scalar> |
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void ContactModelNumDiffTpl<Scalar>::set_disturbance(const Scalar disturbance) { |
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if (disturbance < Scalar(0.)) { |
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throw_pretty("Invalid argument: " << "Disturbance constant is positive"); |
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} |
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e_jac_ = disturbance; |
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} |
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template <typename Scalar> |
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void ContactModelNumDiffTpl<Scalar>::set_reevals( |
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const std::vector<ReevaluationFunction>& reevals) { |
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reevals_ = reevals; |
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} |
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template <typename Scalar> |
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void ContactModelNumDiffTpl<Scalar>::assertStableStateFD( |
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const Eigen::Ref<const VectorXs>& /*x*/) { |
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// do nothing in the general case |
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} |
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} // namespace crocoddyl |
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