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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, University of Oxford, |
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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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namespace crocoddyl { |
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template <typename Scalar> |
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FrictionConeTpl<Scalar>::FrictionConeTpl(const Matrix3s& R, const Scalar mu, |
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std::size_t nf, const bool inner_appr, |
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const Scalar min_nforce, |
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const Scalar max_nforce) |
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: nf_(nf), |
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R_(R), |
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mu_(mu), |
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inner_appr_(inner_appr), |
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min_nforce_(min_nforce), |
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max_nforce_(max_nforce) { |
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if (nf_ % 2 != 0) { |
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nf_ = 4; |
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std::cerr << "Warning: nf has to be an even number, set to 4" << std::endl; |
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} |
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if (mu < Scalar(0.)) { |
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mu_ = Scalar(1.); |
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std::cerr << "Warning: mu has to be a positive value, set to 1." |
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<< std::endl; |
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} |
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if (min_nforce < Scalar(0.)) { |
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min_nforce_ = Scalar(0.); |
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std::cerr << "Warning: min_nforce has to be a positive value, set to 0" |
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<< std::endl; |
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} |
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if (max_nforce < Scalar(0.)) { |
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max_nforce_ = std::numeric_limits<Scalar>::infinity(); |
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std::cerr << "Warning: max_nforce has to be a positive value, set to " |
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"infinity value" |
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<< std::endl; |
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} |
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A_ = MatrixX3s::Zero(nf_ + 1, 3); |
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ub_ = VectorXs::Zero(nf_ + 1); |
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lb_ = VectorXs::Zero(nf_ + 1); |
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// Update the inequality matrix and bounds |
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update(); |
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} |
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template <typename Scalar> |
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FrictionConeTpl<Scalar>::FrictionConeTpl() |
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: nf_(4), |
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A_(nf_ + 1, 3), |
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ub_(nf_ + 1), |
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lb_(nf_ + 1), |
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R_(Matrix3s::Identity()), |
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mu_(Scalar(0.7)), |
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inner_appr_(true), |
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min_nforce_(Scalar(0.)), |
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max_nforce_(std::numeric_limits<Scalar>::infinity()) { |
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A_.setZero(); |
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ub_.setZero(); |
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lb_.setZero(); |
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// Update the inequality matrix and bounds |
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update(); |
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} |
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template <typename Scalar> |
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FrictionConeTpl<Scalar>::FrictionConeTpl(const FrictionConeTpl<Scalar>& cone) |
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: nf_(cone.get_nf()), |
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A_(cone.get_A()), |
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ub_(cone.get_ub()), |
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lb_(cone.get_lb()), |
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R_(cone.get_R()), |
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mu_(cone.get_mu()), |
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inner_appr_(cone.get_inner_appr()), |
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min_nforce_(cone.get_min_nforce()), |
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max_nforce_(cone.get_max_nforce()) {} |
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template <typename Scalar> |
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FrictionConeTpl<Scalar>::~FrictionConeTpl() {} |
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template <typename Scalar> |
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void FrictionConeTpl<Scalar>::update() { |
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// Initialize the matrix and bounds |
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A_.setZero(); |
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ub_.setZero(); |
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lb_.setOnes(); |
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lb_ *= -std::numeric_limits<Scalar>::infinity(); |
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// Compute the mu given the type of friction cone approximation |
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Scalar mu = mu_; |
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const Scalar theta = |
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static_cast<Scalar>(2.0) * pi<Scalar>() / static_cast<Scalar>(nf_); |
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if (inner_appr_) { |
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mu *= cos(theta * Scalar(0.5)); |
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} |
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// Create a temporary object for computation |
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Matrix3s R_transpose = R_.transpose(); |
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// Update the inequality matrix and the bounds |
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// This matrix is defined as |
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// [ 1 0 -mu; |
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// -1 0 -mu; |
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// 0 1 -mu; |
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// 0 -1 -mu; |
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// 0 0 1] |
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Scalar theta_i; |
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Vector3s tsurf_i; |
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Vector3s mu_nsurf = |
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-mu * Vector3s::UnitZ(); // We can pull this out because it's reused. |
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std::size_t row = 0; |
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for (std::size_t i = 0; i < nf_ / 2; ++i) { |
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theta_i = theta * static_cast<Scalar>(i); |
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tsurf_i << cos(theta_i), sin(theta_i), Scalar(0.); |
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A_.row(row++) = (mu_nsurf + tsurf_i).transpose() * R_transpose; |
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A_.row(row++) = (mu_nsurf - tsurf_i).transpose() * R_transpose; |
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} |
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A_.row(nf_) = R_transpose.row(2); |
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lb_(nf_) = min_nforce_; |
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ub_(nf_) = max_nforce_; |
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} |
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template <typename Scalar> |
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void FrictionConeTpl<Scalar>::update(const Vector3s& normal, const Scalar mu, |
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const bool inner_appr, |
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const Scalar min_nforce, |
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const Scalar max_nforce) { |
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Vector3s nsurf = normal; |
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// Sanity checks |
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if (!nsurf.isUnitary()) { |
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nsurf /= normal.norm(); |
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std::cerr |
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<< "Warning: normal is not an unitary vector, then we normalized it" |
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<< std::endl; |
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} |
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R_ = Quaternions::FromTwoVectors(nsurf, Vector3s::UnitZ()).toRotationMatrix(); |
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set_mu(mu); |
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set_inner_appr(inner_appr); |
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set_min_nforce(min_nforce); |
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set_max_nforce(max_nforce); |
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// Update the inequality matrix and bounds |
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update(); |
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} |
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template <typename Scalar> |
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template <typename NewScalar> |
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FrictionConeTpl<NewScalar> FrictionConeTpl<Scalar>::cast() const { |
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typedef FrictionConeTpl<NewScalar> ReturnType; |
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ReturnType ret(R_.template cast<NewScalar>(), scalar_cast<NewScalar>(mu_), |
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nf_, inner_appr_, scalar_cast<NewScalar>(min_nforce_), |
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scalar_cast<NewScalar>(max_nforce_)); |
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return ret; |
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} |
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template <typename Scalar> |
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const typename MathBaseTpl<Scalar>::MatrixX3s& FrictionConeTpl<Scalar>::get_A() |
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const { |
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return A_; |
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} |
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template <typename Scalar> |
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const typename MathBaseTpl<Scalar>::VectorXs& FrictionConeTpl<Scalar>::get_ub() |
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const { |
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return ub_; |
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} |
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template <typename Scalar> |
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const typename MathBaseTpl<Scalar>::VectorXs& FrictionConeTpl<Scalar>::get_lb() |
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const { |
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return lb_; |
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} |
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template <typename Scalar> |
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const typename MathBaseTpl<Scalar>::Matrix3s& FrictionConeTpl<Scalar>::get_R() |
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const { |
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return R_; |
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} |
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template <typename Scalar> |
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typename MathBaseTpl<Scalar>::Vector3s FrictionConeTpl<Scalar>::get_nsurf() { |
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return R_.row(2).transpose(); |
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} |
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template <typename Scalar> |
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const Scalar FrictionConeTpl<Scalar>::get_mu() const { |
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return mu_; |
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} |
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template <typename Scalar> |
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std::size_t FrictionConeTpl<Scalar>::get_nf() const { |
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return nf_; |
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} |
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template <typename Scalar> |
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bool FrictionConeTpl<Scalar>::get_inner_appr() const { |
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return inner_appr_; |
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} |
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template <typename Scalar> |
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const Scalar FrictionConeTpl<Scalar>::get_min_nforce() const { |
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return min_nforce_; |
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} |
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template <typename Scalar> |
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const Scalar FrictionConeTpl<Scalar>::get_max_nforce() const { |
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return max_nforce_; |
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} |
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template <typename Scalar> |
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void FrictionConeTpl<Scalar>::set_R(const Matrix3s& R) { |
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R_ = R; |
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} |
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template <typename Scalar> |
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void FrictionConeTpl<Scalar>::set_nsurf(const Vector3s& nsurf) { |
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Vector3s normal = nsurf; |
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// Sanity checks |
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if (!nsurf.isUnitary()) { |
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normal /= nsurf.norm(); |
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std::cerr |
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<< "Warning: normal is not an unitary vector, then we normalized it" |
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<< std::endl; |
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} |
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R_ = |
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Quaternions::FromTwoVectors(normal, Vector3s::UnitZ()).toRotationMatrix(); |
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} |
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template <typename Scalar> |
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void FrictionConeTpl<Scalar>::set_mu(const Scalar mu) { |
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if (mu < Scalar(0.)) { |
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mu_ = Scalar(1.); |
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std::cerr << "Warning: mu has to be a positive value, set to 1." |
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<< std::endl; |
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} |
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mu_ = mu; |
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} |
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template <typename Scalar> |
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void FrictionConeTpl<Scalar>::set_inner_appr(const bool inner_appr) { |
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inner_appr_ = inner_appr; |
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} |
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template <typename Scalar> |
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void FrictionConeTpl<Scalar>::set_min_nforce(const Scalar min_nforce) { |
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if (min_nforce < Scalar(0.)) { |
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min_nforce_ = Scalar(0.); |
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std::cerr << "Warning: min_nforce has to be a positive value, set to 0" |
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<< std::endl; |
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} |
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min_nforce_ = min_nforce; |
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} |
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template <typename Scalar> |
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void FrictionConeTpl<Scalar>::set_max_nforce(const Scalar max_nforce) { |
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if (max_nforce < Scalar(0.)) { |
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max_nforce_ = std::numeric_limits<Scalar>::infinity(); |
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std::cerr << "Warning: max_nforce has to be a positive value, set to " |
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"infinity value" |
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<< std::endl; |
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} |
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max_nforce_ = max_nforce; |
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} |
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template <typename Scalar> |
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FrictionConeTpl<Scalar>& FrictionConeTpl<Scalar>::operator=( |
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const FrictionConeTpl<Scalar>& other) { |
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if (this != &other) { |
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nf_ = other.get_nf(); |
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A_ = other.get_A(); |
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ub_ = other.get_ub(); |
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lb_ = other.get_lb(); |
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R_ = other.get_R(); |
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mu_ = other.get_mu(); |
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inner_appr_ = other.get_inner_appr(); |
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min_nforce_ = other.get_min_nforce(); |
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max_nforce_ = other.get_max_nforce(); |
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} |
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return *this; |
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} |
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template <typename Scalar> |
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std::ostream& operator<<(std::ostream& os, const FrictionConeTpl<Scalar>& X) { |
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os << " R: " << X.get_R() << std::endl; |
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os << " mu: " << X.get_mu() << std::endl; |
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os << " nf: " << X.get_nf() << std::endl; |
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os << "inner_appr: "; |
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if (X.get_inner_appr()) { |
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os << "true" << std::endl; |
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} else { |
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os << "false" << std::endl; |
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} |
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os << " min_force: " << X.get_min_nforce() << std::endl; |
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os << " max_force: " << X.get_max_nforce() << std::endl; |
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return os; |
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} |
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} // namespace crocoddyl |
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