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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, |
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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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#include <pinocchio/algorithm/frames.hpp> |
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#include <pinocchio/algorithm/kinematics-derivatives.hpp> |
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namespace crocoddyl { |
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template <typename Scalar> |
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ImpulseModel6DTpl<Scalar>::ImpulseModel6DTpl( |
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std::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id, |
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const pinocchio::ReferenceFrame type) |
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: Base(state, type, 6) { |
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id_ = id; |
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} |
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template <typename Scalar> |
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void ImpulseModel6DTpl<Scalar>::calc( |
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const std::shared_ptr<ImpulseDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>&) { |
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std::shared_ptr<Data> d = std::static_pointer_cast<Data>(data); |
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pinocchio::updateFramePlacement<Scalar>(*state_->get_pinocchio().get(), |
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*d->pinocchio, id_); |
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pinocchio::getFrameJacobian(*state_->get_pinocchio().get(), *d->pinocchio, |
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id_, pinocchio::LOCAL, d->fJf); |
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switch (type_) { |
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case pinocchio::ReferenceFrame::LOCAL: |
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data->Jc = d->fJf; |
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break; |
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case pinocchio::ReferenceFrame::WORLD: |
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case pinocchio::ReferenceFrame::LOCAL_WORLD_ALIGNED: |
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d->lwaMl.rotation(d->pinocchio->oMf[id_].rotation()); |
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data->Jc.noalias() = d->lwaMl.toActionMatrix() * d->fJf; |
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break; |
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} |
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} |
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template <typename Scalar> |
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void ImpulseModel6DTpl<Scalar>::calcDiff( |
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const std::shared_ptr<ImpulseDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>&) { |
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std::shared_ptr<Data> d = std::static_pointer_cast<Data>(data); |
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const pinocchio::JointIndex joint = |
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state_->get_pinocchio()->frames[d->frame].parentJoint; |
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pinocchio::getJointVelocityDerivatives(*state_->get_pinocchio().get(), |
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*d->pinocchio, joint, pinocchio::LOCAL, |
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d->v_partial_dq, d->v_partial_dv); |
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d->dv0_local_dq.noalias() = d->fXj * d->v_partial_dq; |
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switch (type_) { |
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case pinocchio::ReferenceFrame::LOCAL: |
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data->dv0_dq = d->dv0_local_dq; |
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break; |
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case pinocchio::ReferenceFrame::WORLD: |
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case pinocchio::ReferenceFrame::LOCAL_WORLD_ALIGNED: |
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const Eigen::Ref<const Matrix3s> oRf = d->pinocchio->oMf[id_].rotation(); |
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d->v0 = pinocchio::getFrameVelocity(*state_->get_pinocchio().get(), |
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*d->pinocchio, id_, type_); |
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pinocchio::skew(d->v0.linear(), d->vv_skew); |
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pinocchio::skew(d->v0.angular(), d->vw_skew); |
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d->vv_world_skew.noalias() = d->vv_skew * oRf; |
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d->vw_world_skew.noalias() = d->vw_skew * oRf; |
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data->dv0_dq.noalias() = d->lwaMl.toActionMatrix() * d->dv0_local_dq; |
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d->dv0_dq.template topRows<3>().noalias() -= |
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d->vv_world_skew * d->fJf.template bottomRows<3>(); |
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d->dv0_dq.template bottomRows<3>().noalias() -= |
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d->vw_world_skew * d->fJf.template bottomRows<3>(); |
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break; |
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} |
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} |
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template <typename Scalar> |
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void ImpulseModel6DTpl<Scalar>::updateForce( |
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const std::shared_ptr<ImpulseDataAbstract>& data, const VectorXs& force) { |
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if (force.size() != 6) { |
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throw_pretty( |
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"Invalid argument: " << "lambda has wrong dimension (it should be 6)"); |
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} |
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Data* d = static_cast<Data*>(data.get()); |
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data->f = pinocchio::ForceTpl<Scalar>(force); |
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switch (type_) { |
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case pinocchio::ReferenceFrame::LOCAL: |
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data->fext = data->jMf.act(data->f); |
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data->dtau_dq.setZero(); |
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break; |
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case pinocchio::ReferenceFrame::WORLD: |
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case pinocchio::ReferenceFrame::LOCAL_WORLD_ALIGNED: |
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d->f_local = d->lwaMl.actInv(data->f); |
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data->fext = data->jMf.act(d->f_local); |
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pinocchio::skew(d->f_local.linear(), d->fv_skew); |
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pinocchio::skew(d->f_local.angular(), d->fw_skew); |
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d->fJf_df.template topRows<3>().noalias() = |
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d->fv_skew * d->fJf.template bottomRows<3>(); |
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d->fJf_df.template bottomRows<3>().noalias() = |
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d->fw_skew * d->fJf.template bottomRows<3>(); |
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d->dtau_dq.noalias() = -d->fJf.transpose() * d->fJf_df; |
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break; |
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} |
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} |
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template <typename Scalar> |
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std::shared_ptr<ImpulseDataAbstractTpl<Scalar> > |
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ImpulseModel6DTpl<Scalar>::createData(pinocchio::DataTpl<Scalar>* const data) { |
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return std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this, |
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data); |
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} |
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template <typename Scalar> |
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template <typename NewScalar> |
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ImpulseModel6DTpl<NewScalar> ImpulseModel6DTpl<Scalar>::cast() const { |
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typedef ImpulseModel6DTpl<NewScalar> ReturnType; |
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typedef StateMultibodyTpl<NewScalar> StateType; |
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ReturnType ret( |
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std::make_shared<StateType>(state_->template cast<NewScalar>()), id_, |
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type_); |
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return ret; |
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} |
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template <typename Scalar> |
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void ImpulseModel6DTpl<Scalar>::print(std::ostream& os) const { |
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os << "ImpulseModel^D {frame=" << state_->get_pinocchio()->frames[id_].name |
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<< ", type=" << type_ << "}"; |
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} |
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} // namespace crocoddyl |
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