| Directory: | ./ |
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| File: | include/crocoddyl/multibody/force-base.hpp |
| Date: | 2025-01-16 08:47:40 |
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| Lines: | 15 | 15 | 100.0% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2021-2023, University of Edinburgh, Heriot-Watt University | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #ifndef CROCODDYL_MULTIBODY_FORCE_BASE_HPP_ | ||
| 10 | #define CROCODDYL_MULTIBODY_FORCE_BASE_HPP_ | ||
| 11 | |||
| 12 | #include <pinocchio/multibody/data.hpp> | ||
| 13 | #include <pinocchio/spatial/force.hpp> | ||
| 14 | |||
| 15 | #include "crocoddyl/core/mathbase.hpp" | ||
| 16 | #include "crocoddyl/multibody/fwd.hpp" | ||
| 17 | |||
| 18 | namespace crocoddyl { | ||
| 19 | |||
| 20 | template <typename _Scalar> | ||
| 21 | struct ForceDataAbstractTpl { | ||
| 22 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 23 | |||
| 24 | typedef _Scalar Scalar; | ||
| 25 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 26 | typedef typename MathBase::VectorXs VectorXs; | ||
| 27 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 28 | typedef typename pinocchio::DataTpl<Scalar> PinocchioData; | ||
| 29 | typedef typename pinocchio::SE3Tpl<Scalar> SE3; | ||
| 30 | typedef typename pinocchio::ForceTpl<Scalar> Force; | ||
| 31 | |||
| 32 | template <template <typename Scalar> class Model> | ||
| 33 | 347567 | ForceDataAbstractTpl(Model<Scalar>* const model, PinocchioData* const data) | |
| 34 | 347567 | : pinocchio(data), | |
| 35 | 347567 | frame(0), | |
| 36 | 695134 | type(model->get_type()), | |
| 37 | 347567 | jMf(SE3::Identity()), | |
| 38 |
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347567 | Jc(model->get_nc(), model->get_state()->get_nv()), |
| 39 |
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347567 | f(Force::Zero()), |
| 40 |
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347567 | fext(Force::Zero()), |
| 41 |
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347567 | df_dx(model->get_nc(), model->get_state()->get_ndx()), |
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695134 | df_du(model->get_nc(), model->get_nu()) { |
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347567 | Jc.setZero(); |
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347567 | df_dx.setZero(); |
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347567 | df_du.setZero(); |
| 46 | 347567 | } | |
| 47 | 174012 | virtual ~ForceDataAbstractTpl() {} | |
| 48 | |||
| 49 | PinocchioData* pinocchio; //!< Pinocchio data | ||
| 50 | pinocchio::FrameIndex frame; //!< Frame index of the contact frame | ||
| 51 | pinocchio::ReferenceFrame type; //!< Type of contact | ||
| 52 | SE3 jMf; //!< Local frame placement of the contact frame | ||
| 53 | MatrixXs Jc; //!< Contact Jacobian | ||
| 54 | Force f; //!< Contact force expressed in the coordinate defined by type | ||
| 55 | Force fext; //!< External spatial force at the parent joint level | ||
| 56 | MatrixXs df_dx; //!< Jacobian of the contact forces expressed in the | ||
| 57 | //!< coordinate defined by type | ||
| 58 | MatrixXs df_du; //!< Jacobian of the contact forces expressed in the | ||
| 59 | //!< coordinate defined by type | ||
| 60 | }; | ||
| 61 | |||
| 62 | } // namespace crocoddyl | ||
| 63 | |||
| 64 | #endif // CROCODDYL_MULTIBODY_FORCE_BASE_HPP_ | ||
| 65 |