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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2021-2022, University of Edinburgh, 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 "contact_cost.hpp" |
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#include "crocoddyl/core/costs/residual.hpp" |
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#include "crocoddyl/multibody/residuals/contact-control-gravity.hpp" |
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#include "crocoddyl/multibody/residuals/contact-cop-position.hpp" |
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#include "crocoddyl/multibody/residuals/contact-force.hpp" |
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#include "crocoddyl/multibody/residuals/contact-friction-cone.hpp" |
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#include "crocoddyl/multibody/residuals/contact-wrench-cone.hpp" |
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#include "diff_action.hpp" |
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namespace crocoddyl { |
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namespace unittest { |
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const std::vector<ContactCostModelTypes::Type> ContactCostModelTypes::all( |
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ContactCostModelTypes::init_all()); |
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std::ostream& operator<<(std::ostream& os, ContactCostModelTypes::Type type) { |
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switch (type) { |
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case ContactCostModelTypes::CostModelResidualContactForce: |
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os << "CostModelResidualContactForce"; |
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break; |
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case ContactCostModelTypes::CostModelResidualContactCoPPosition: |
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os << "CostModelResidualContactCoPPosition"; |
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break; |
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case ContactCostModelTypes::CostModelResidualContactFrictionCone: |
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os << "CostModelResidualContactFrictionCone"; |
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break; |
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case ContactCostModelTypes::CostModelResidualContactWrenchCone: |
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os << "CostModelResidualContactWrenchCone"; |
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break; |
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case ContactCostModelTypes::CostModelResidualContactControlGrav: |
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os << "CostModelResidualContactControlGrav"; |
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break; |
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case ContactCostModelTypes::NbContactCostModelTypes: |
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os << "NbContactCostModelTypes"; |
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break; |
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default: |
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break; |
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} |
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return os; |
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} |
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ContactCostModelFactory::ContactCostModelFactory() {} |
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ContactCostModelFactory::~ContactCostModelFactory() {} |
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std::shared_ptr<crocoddyl::DifferentialActionModelAbstract> |
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ContactCostModelFactory::create( |
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ContactCostModelTypes::Type cost_type, PinocchioModelTypes::Type model_type, |
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ActivationModelTypes::Type activation_type, |
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ActuationModelTypes::Type actuation_type) const { |
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// Create contact action model with no cost |
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std::shared_ptr<crocoddyl::DifferentialActionModelContactFwdDynamics> action; |
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switch (model_type) { |
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case PinocchioModelTypes::Talos: |
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action = DifferentialActionModelFactory().create_contactFwdDynamics( |
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StateModelTypes::StateMultibody_Talos, actuation_type, false); |
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break; |
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case PinocchioModelTypes::HyQ: |
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action = DifferentialActionModelFactory().create_contactFwdDynamics( |
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StateModelTypes::StateMultibody_HyQ, actuation_type, false); |
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break; |
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default: |
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throw_pretty(__FILE__ ": Wrong PinocchioModelTypes::Type given"); |
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break; |
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} |
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action->get_costs()->removeCost("state"); |
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action->get_costs()->removeCost("control"); |
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// Create cost |
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std::shared_ptr<crocoddyl::CostModelAbstract> cost; |
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PinocchioModelFactory model_factory(model_type); |
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std::shared_ptr<crocoddyl::StateMultibody> state = |
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std::static_pointer_cast<crocoddyl::StateMultibody>(action->get_state()); |
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const std::size_t nu = action->get_actuation()->get_nu(); |
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Eigen::Matrix3d R = Eigen::Matrix3d::Identity(); |
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std::vector<std::size_t> frame_ids = model_factory.get_frame_ids(); |
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switch (cost_type) { |
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case ContactCostModelTypes::CostModelResidualContactForce: |
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for (std::size_t i = 0; i < frame_ids.size(); ++i) { |
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cost = std::make_shared<crocoddyl::CostModelResidual>( |
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state, |
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ActivationModelFactory().create(activation_type, |
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model_factory.get_contact_nc()), |
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std::make_shared<crocoddyl::ResidualModelContactForce>( |
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state, frame_ids[i], pinocchio::Force::Random(), |
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model_factory.get_contact_nc(), nu)); |
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action->get_costs()->addCost("cost_" + std::to_string(i), cost, 0.001); |
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} |
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break; |
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case ContactCostModelTypes::CostModelResidualContactCoPPosition: |
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for (std::size_t i = 0; i < frame_ids.size(); ++i) { |
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cost = std::make_shared<crocoddyl::CostModelResidual>( |
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state, ActivationModelFactory().create(activation_type, 4), |
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std::make_shared<crocoddyl::ResidualModelContactCoPPosition>( |
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state, frame_ids[i], |
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crocoddyl::CoPSupport(R, Eigen::Vector2d(0.1, 0.1)), nu)); |
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action->get_costs()->addCost("cost_" + std::to_string(i), cost, 0.001); |
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} |
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break; |
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case ContactCostModelTypes::CostModelResidualContactFrictionCone: |
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for (std::size_t i = 0; i < frame_ids.size(); ++i) { |
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cost = std::make_shared<crocoddyl::CostModelResidual>( |
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state, ActivationModelFactory().create(activation_type, 5), |
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std::make_shared<crocoddyl::ResidualModelContactFrictionCone>( |
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state, frame_ids[i], crocoddyl::FrictionCone(R, 1.), nu)); |
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action->get_costs()->addCost("cost_" + std::to_string(i), cost, 0.001); |
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} |
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break; |
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case ContactCostModelTypes::CostModelResidualContactWrenchCone: |
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for (std::size_t i = 0; i < frame_ids.size(); ++i) { |
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cost = std::make_shared<crocoddyl::CostModelResidual>( |
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state, ActivationModelFactory().create(activation_type, 17), |
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std::make_shared<crocoddyl::ResidualModelContactWrenchCone>( |
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state, frame_ids[i], |
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crocoddyl::WrenchCone(R, 1., Eigen::Vector2d(0.1, 0.1)), nu)); |
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action->get_costs()->addCost("cost_" + std::to_string(i), cost, 0.001); |
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} |
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break; |
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case ContactCostModelTypes::CostModelResidualContactControlGrav: |
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for (std::size_t i = 0; i < frame_ids.size(); ++i) { |
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cost = std::make_shared<crocoddyl::CostModelResidual>( |
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state, |
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ActivationModelFactory().create(activation_type, state->get_nv()), |
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std::make_shared<crocoddyl::ResidualModelContactControlGrav>(state, |
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nu)); |
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action->get_costs()->addCost("cost_" + std::to_string(i), cost, 0.001); |
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} |
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break; |
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default: |
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throw_pretty(__FILE__ ": Wrong ContactCostModelTypes::Type given"); |
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break; |
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} |
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// Include the cost in the contact model |
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return action; |
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} |
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} // namespace unittest |
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} // namespace crocoddyl |
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