| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, | ||
| 5 | // Heriot-Watt University | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | namespace crocoddyl { | ||
| 11 | |||
| 12 | template <typename Scalar> | ||
| 13 | ✗ | ImpulseModel3DTpl<Scalar>::ImpulseModel3DTpl( | |
| 14 | std::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id, | ||
| 15 | const pinocchio::ReferenceFrame type) | ||
| 16 | ✗ | : Base(state, type, 3) { | |
| 17 | ✗ | id_ = id; | |
| 18 | ✗ | } | |
| 19 | |||
| 20 | template <typename Scalar> | ||
| 21 | ✗ | void ImpulseModel3DTpl<Scalar>::calc( | |
| 22 | const std::shared_ptr<ImpulseDataAbstract>& data, | ||
| 23 | const Eigen::Ref<const VectorXs>&) { | ||
| 24 | ✗ | std::shared_ptr<Data> d = std::static_pointer_cast<Data>(data); | |
| 25 | ✗ | pinocchio::updateFramePlacement<Scalar>(*state_->get_pinocchio().get(), | |
| 26 | ✗ | *d->pinocchio, id_); | |
| 27 | ✗ | pinocchio::getFrameJacobian(*state_->get_pinocchio().get(), *d->pinocchio, | |
| 28 | ✗ | id_, pinocchio::LOCAL, d->fJf); | |
| 29 | |||
| 30 | ✗ | switch (type_) { | |
| 31 | ✗ | case pinocchio::ReferenceFrame::LOCAL: | |
| 32 | ✗ | data->Jc = d->fJf.template topRows<3>(); | |
| 33 | ✗ | break; | |
| 34 | ✗ | case pinocchio::ReferenceFrame::WORLD: | |
| 35 | case pinocchio::ReferenceFrame::LOCAL_WORLD_ALIGNED: | ||
| 36 | ✗ | data->Jc.noalias() = | |
| 37 | ✗ | d->pinocchio->oMf[id_].rotation() * d->fJf.template topRows<3>(); | |
| 38 | ✗ | break; | |
| 39 | } | ||
| 40 | ✗ | } | |
| 41 | |||
| 42 | template <typename Scalar> | ||
| 43 | ✗ | void ImpulseModel3DTpl<Scalar>::calcDiff( | |
| 44 | const std::shared_ptr<ImpulseDataAbstract>& data, | ||
| 45 | const Eigen::Ref<const VectorXs>&) { | ||
| 46 | ✗ | std::shared_ptr<Data> d = std::static_pointer_cast<Data>(data); | |
| 47 | |||
| 48 | ✗ | const pinocchio::JointIndex joint = | |
| 49 | ✗ | state_->get_pinocchio()->frames[d->frame].parentJoint; | |
| 50 | ✗ | pinocchio::getJointVelocityDerivatives(*state_->get_pinocchio().get(), | |
| 51 | ✗ | *d->pinocchio, joint, pinocchio::LOCAL, | |
| 52 | ✗ | d->v_partial_dq, d->v_partial_dv); | |
| 53 | ✗ | d->dv0_local_dq.noalias() = d->fXj.template topRows<3>() * d->v_partial_dq; | |
| 54 | |||
| 55 | ✗ | switch (type_) { | |
| 56 | ✗ | case pinocchio::ReferenceFrame::LOCAL: | |
| 57 | ✗ | data->dv0_dq = d->dv0_local_dq; | |
| 58 | ✗ | break; | |
| 59 | ✗ | case pinocchio::ReferenceFrame::WORLD: | |
| 60 | case pinocchio::ReferenceFrame::LOCAL_WORLD_ALIGNED: | ||
| 61 | ✗ | const Eigen::Ref<const Matrix3s> oRf = d->pinocchio->oMf[id_].rotation(); | |
| 62 | ✗ | d->v0 = pinocchio::getFrameVelocity(*state_->get_pinocchio().get(), | |
| 63 | ✗ | *d->pinocchio, id_, | |
| 64 | pinocchio::LOCAL_WORLD_ALIGNED) | ||
| 65 | ✗ | .linear(); | |
| 66 | ✗ | pinocchio::skew(d->v0, d->v0_skew); | |
| 67 | ✗ | d->v0_world_skew.noalias() = d->v0_skew * oRf; | |
| 68 | ✗ | data->dv0_dq.noalias() = oRf * d->dv0_local_dq; | |
| 69 | ✗ | data->dv0_dq.noalias() -= | |
| 70 | ✗ | d->v0_world_skew * d->fJf.template bottomRows<3>(); | |
| 71 | ✗ | break; | |
| 72 | ✗ | } | |
| 73 | ✗ | } | |
| 74 | |||
| 75 | template <typename Scalar> | ||
| 76 | ✗ | void ImpulseModel3DTpl<Scalar>::updateForce( | |
| 77 | const std::shared_ptr<ImpulseDataAbstract>& data, const VectorXs& force) { | ||
| 78 | ✗ | if (force.size() != 3) { | |
| 79 | ✗ | throw_pretty( | |
| 80 | "Invalid argument: " << "lambda has wrong dimension (it should be 3)"); | ||
| 81 | } | ||
| 82 | ✗ | Data* d = static_cast<Data*>(data.get()); | |
| 83 | ✗ | data->f.linear() = force; | |
| 84 | ✗ | data->f.angular().setZero(); | |
| 85 | ✗ | switch (type_) { | |
| 86 | ✗ | case pinocchio::ReferenceFrame::LOCAL: | |
| 87 | ✗ | data->fext = d->jMf.act(data->f); | |
| 88 | ✗ | data->dtau_dq.setZero(); | |
| 89 | ✗ | break; | |
| 90 | ✗ | case pinocchio::ReferenceFrame::WORLD: | |
| 91 | case pinocchio::ReferenceFrame::LOCAL_WORLD_ALIGNED: | ||
| 92 | ✗ | const Eigen::Ref<const Matrix3s> oRf = d->pinocchio->oMf[id_].rotation(); | |
| 93 | ✗ | d->f_local.linear().noalias() = oRf.transpose() * force; | |
| 94 | ✗ | d->f_local.angular().setZero(); | |
| 95 | ✗ | data->fext = data->jMf.act(d->f_local); | |
| 96 | ✗ | pinocchio::skew(d->f_local.linear(), d->f_skew); | |
| 97 | ✗ | d->fJf_df.noalias() = d->f_skew * d->fJf.template bottomRows<3>(); | |
| 98 | ✗ | data->dtau_dq.noalias() = | |
| 99 | ✗ | -d->fJf.template topRows<3>().transpose() * d->fJf_df; | |
| 100 | ✗ | break; | |
| 101 | ✗ | } | |
| 102 | ✗ | } | |
| 103 | |||
| 104 | template <typename Scalar> | ||
| 105 | std::shared_ptr<ImpulseDataAbstractTpl<Scalar> > | ||
| 106 | ✗ | ImpulseModel3DTpl<Scalar>::createData(pinocchio::DataTpl<Scalar>* const data) { | |
| 107 | ✗ | return std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this, | |
| 108 | ✗ | data); | |
| 109 | } | ||
| 110 | |||
| 111 | template <typename Scalar> | ||
| 112 | template <typename NewScalar> | ||
| 113 | ✗ | ImpulseModel3DTpl<NewScalar> ImpulseModel3DTpl<Scalar>::cast() const { | |
| 114 | typedef ImpulseModel3DTpl<NewScalar> ReturnType; | ||
| 115 | typedef StateMultibodyTpl<NewScalar> StateType; | ||
| 116 | ✗ | ReturnType ret( | |
| 117 | ✗ | std::make_shared<StateType>(state_->template cast<NewScalar>()), id_, | |
| 118 | ✗ | type_); | |
| 119 | ✗ | return ret; | |
| 120 | } | ||
| 121 | |||
| 122 | template <typename Scalar> | ||
| 123 | ✗ | void ImpulseModel3DTpl<Scalar>::print(std::ostream& os) const { | |
| 124 | ✗ | os << "ImpulseModel3D {frame=" << state_->get_pinocchio()->frames[id_].name | |
| 125 | ✗ | << ", type=" << type_ << "}"; | |
| 126 | ✗ | } | |
| 127 | |||
| 128 | } // namespace crocoddyl | ||
| 129 |