| Directory: | ./ |
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| File: | include/crocoddyl/multibody/impulses/impulse-6d.hpp |
| Date: | 2025-01-16 08:47:40 |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2023, 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 | #ifndef CROCODDYL_MULTIBODY_IMPULSES_IMPULSE_6D_HPP_ | ||
| 11 | #define CROCODDYL_MULTIBODY_IMPULSES_IMPULSE_6D_HPP_ | ||
| 12 | |||
| 13 | #include <pinocchio/multibody/data.hpp> | ||
| 14 | #include <pinocchio/spatial/motion.hpp> | ||
| 15 | |||
| 16 | #include "crocoddyl/multibody/fwd.hpp" | ||
| 17 | #include "crocoddyl/multibody/impulse-base.hpp" | ||
| 18 | |||
| 19 | namespace crocoddyl { | ||
| 20 | |||
| 21 | template <typename _Scalar> | ||
| 22 | class ImpulseModel6DTpl : public ImpulseModelAbstractTpl<_Scalar> { | ||
| 23 | public: | ||
| 24 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 25 | |||
| 26 | typedef _Scalar Scalar; | ||
| 27 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 28 | typedef ImpulseModelAbstractTpl<Scalar> Base; | ||
| 29 | typedef ImpulseData6DTpl<Scalar> Data; | ||
| 30 | typedef StateMultibodyTpl<Scalar> StateMultibody; | ||
| 31 | typedef ImpulseDataAbstractTpl<Scalar> ImpulseDataAbstract; | ||
| 32 | typedef typename MathBase::Vector2s Vector2s; | ||
| 33 | typedef typename MathBase::Vector3s Vector3s; | ||
| 34 | typedef typename MathBase::VectorXs VectorXs; | ||
| 35 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 36 | typedef typename MathBase::Matrix3s Matrix3s; | ||
| 37 | |||
| 38 | /** | ||
| 39 | * @brief Initialize the 6d impulse model | ||
| 40 | * | ||
| 41 | * @param[in] state State of the multibody system | ||
| 42 | * @param[in] id Reference frame id of the impulse | ||
| 43 | * @param[in] type Type of impulse (default LOCAL) | ||
| 44 | */ | ||
| 45 | ImpulseModel6DTpl( | ||
| 46 | boost::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id, | ||
| 47 | const pinocchio::ReferenceFrame type = pinocchio::ReferenceFrame::LOCAL); | ||
| 48 | virtual ~ImpulseModel6DTpl(); | ||
| 49 | |||
| 50 | /** | ||
| 51 | * @brief Compute the 3d impulse Jacobian | ||
| 52 | * | ||
| 53 | * @param[in] data 3d impulse data | ||
| 54 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 55 | */ | ||
| 56 | virtual void calc(const boost::shared_ptr<ImpulseDataAbstract>& data, | ||
| 57 | const Eigen::Ref<const VectorXs>& x); | ||
| 58 | |||
| 59 | /** | ||
| 60 | * @brief Compute the derivatives of the 3d impulse holonomic constraint | ||
| 61 | * | ||
| 62 | * @param[in] data 3d impulse data | ||
| 63 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 64 | */ | ||
| 65 | virtual void calcDiff(const boost::shared_ptr<ImpulseDataAbstract>& data, | ||
| 66 | const Eigen::Ref<const VectorXs>& x); | ||
| 67 | |||
| 68 | /** | ||
| 69 | * @brief Convert the force into a stack of spatial forces | ||
| 70 | * | ||
| 71 | * @param[in] data 3d impulse data | ||
| 72 | * @param[in] force 3d impulse | ||
| 73 | */ | ||
| 74 | virtual void updateForce(const boost::shared_ptr<ImpulseDataAbstract>& data, | ||
| 75 | const VectorXs& force); | ||
| 76 | |||
| 77 | /** | ||
| 78 | * @brief Create the 3d impulse data | ||
| 79 | */ | ||
| 80 | virtual boost::shared_ptr<ImpulseDataAbstract> createData( | ||
| 81 | pinocchio::DataTpl<Scalar>* const data); | ||
| 82 | |||
| 83 | /** | ||
| 84 | * @brief Print relevant information of the 6d impulse model | ||
| 85 | * | ||
| 86 | * @param[out] os Output stream object | ||
| 87 | */ | ||
| 88 | virtual void print(std::ostream& os) const; | ||
| 89 | |||
| 90 | protected: | ||
| 91 | using Base::id_; | ||
| 92 | using Base::state_; | ||
| 93 | using Base::type_; | ||
| 94 | }; | ||
| 95 | |||
| 96 | template <typename _Scalar> | ||
| 97 | struct ImpulseData6DTpl : public ImpulseDataAbstractTpl<_Scalar> { | ||
| 98 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 99 | typedef _Scalar Scalar; | ||
| 100 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 101 | typedef ImpulseDataAbstractTpl<Scalar> Base; | ||
| 102 | typedef typename MathBase::Matrix3s Matrix3s; | ||
| 103 | typedef typename MathBase::Matrix6xs Matrix6xs; | ||
| 104 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 105 | typedef typename pinocchio::SE3Tpl<Scalar> SE3; | ||
| 106 | typedef typename pinocchio::MotionTpl<Scalar> Motion; | ||
| 107 | typedef typename pinocchio::ForceTpl<Scalar> Force; | ||
| 108 | |||
| 109 | template <template <typename Scalar> class Model> | ||
| 110 | 6948 | ImpulseData6DTpl(Model<Scalar>* const model, | |
| 111 | pinocchio::DataTpl<Scalar>* const data) | ||
| 112 | : Base(model, data), | ||
| 113 | 6948 | lwaMl(SE3::Identity()), | |
| 114 |
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6948 | v0(Motion::Zero()), |
| 115 |
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6948 | f_local(Force::Zero()), |
| 116 |
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6948 | dv0_local_dq(6, model->get_state()->get_nv()), |
| 117 |
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6948 | fJf(6, model->get_state()->get_nv()), |
| 118 |
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6948 | v_partial_dq(6, model->get_state()->get_nv()), |
| 119 |
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6948 | v_partial_dv(6, model->get_state()->get_nv()), |
| 120 |
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13896 | fJf_df(6, model->get_state()->get_nv()) { |
| 121 | 6948 | frame = model->get_id(); | |
| 122 | 6948 | jMf = | |
| 123 |
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6948 | model->get_state()->get_pinocchio()->frames[model->get_id()].placement; |
| 124 |
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6948 | fXj = jMf.inverse().toActionMatrix(); |
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6948 | fJf.setZero(); |
| 126 |
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6948 | v_partial_dq.setZero(); |
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6948 | v_partial_dv.setZero(); |
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6948 | vv_skew.setZero(); |
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6948 | vw_skew.setZero(); |
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6948 | vv_world_skew.setZero(); |
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6948 | vw_world_skew.setZero(); |
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6948 | fv_skew.setZero(); |
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6948 | fw_skew.setZero(); |
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6948 | fJf_df.setZero(); |
| 135 | 6948 | } | |
| 136 | |||
| 137 | using Base::df_dx; | ||
| 138 | using Base::dv0_dq; | ||
| 139 | using Base::f; | ||
| 140 | using Base::frame; | ||
| 141 | using Base::fXj; | ||
| 142 | using Base::Jc; | ||
| 143 | using Base::jMf; | ||
| 144 | using Base::pinocchio; | ||
| 145 | |||
| 146 | SE3 lwaMl; | ||
| 147 | Motion v0; | ||
| 148 | Force f_local; | ||
| 149 | Matrix6xs dv0_local_dq; | ||
| 150 | Matrix6xs fJf; | ||
| 151 | Matrix6xs v_partial_dq; | ||
| 152 | Matrix6xs v_partial_dv; | ||
| 153 | Matrix3s vv_skew; | ||
| 154 | Matrix3s vw_skew; | ||
| 155 | Matrix3s vv_world_skew; | ||
| 156 | Matrix3s vw_world_skew; | ||
| 157 | Matrix3s fv_skew; | ||
| 158 | Matrix3s fw_skew; | ||
| 159 | MatrixXs fJf_df; | ||
| 160 | }; | ||
| 161 | |||
| 162 | } // namespace crocoddyl | ||
| 163 | |||
| 164 | /* --- Details -------------------------------------------------------------- */ | ||
| 165 | /* --- Details -------------------------------------------------------------- */ | ||
| 166 | /* --- Details -------------------------------------------------------------- */ | ||
| 167 | #include "crocoddyl/multibody/impulses/impulse-6d.hxx" | ||
| 168 | |||
| 169 | #endif // CROCODDYL_MULTIBODY_IMPULSES_IMPULSE_6D_HPP_ | ||
| 170 |