| Directory: | ./ |
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| File: | include/crocoddyl/multibody/impulse-base.hpp |
| Date: | 2025-03-26 19:23:43 |
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| Lines: | 9 | 11 | 81.8% |
| Branches: | 12 | 28 | 42.9% |
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| 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 | #ifndef CROCODDYL_MULTIBODY_IMPULSE_BASE_HPP_ | ||
| 11 | #define CROCODDYL_MULTIBODY_IMPULSE_BASE_HPP_ | ||
| 12 | |||
| 13 | #include "crocoddyl/core/utils/deprecate.hpp" | ||
| 14 | #include "crocoddyl/multibody/force-base.hpp" | ||
| 15 | #include "crocoddyl/multibody/fwd.hpp" | ||
| 16 | #include "crocoddyl/multibody/states/multibody.hpp" | ||
| 17 | |||
| 18 | namespace crocoddyl { | ||
| 19 | |||
| 20 | class ImpulseModelBase { | ||
| 21 | public: | ||
| 22 | 850 | virtual ~ImpulseModelBase() = default; | |
| 23 | |||
| 24 | ✗ | CROCODDYL_BASE_CAST(ImpulseModelBase, ImpulseModelAbstractTpl) | |
| 25 | }; | ||
| 26 | |||
| 27 | template <typename _Scalar> | ||
| 28 | class ImpulseModelAbstractTpl : public ImpulseModelBase { | ||
| 29 | public: | ||
| 30 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 31 | |||
| 32 | typedef _Scalar Scalar; | ||
| 33 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 34 | typedef ImpulseDataAbstractTpl<Scalar> ImpulseDataAbstract; | ||
| 35 | typedef StateMultibodyTpl<Scalar> StateMultibody; | ||
| 36 | typedef typename MathBase::VectorXs VectorXs; | ||
| 37 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 38 | |||
| 39 | ImpulseModelAbstractTpl(std::shared_ptr<StateMultibody> state, | ||
| 40 | const pinocchio::ReferenceFrame type, | ||
| 41 | const std::size_t nc); | ||
| 42 | |||
| 43 | DEPRECATED( | ||
| 44 | "Use constructor that passes the type type of contact, this assumes is " | ||
| 45 | "pinocchio::LOCAL", | ||
| 46 | ImpulseModelAbstractTpl(std::shared_ptr<StateMultibody> state, | ||
| 47 | const std::size_t nc);) | ||
| 48 | 850 | virtual ~ImpulseModelAbstractTpl() = default; | |
| 49 | |||
| 50 | virtual void calc(const std::shared_ptr<ImpulseDataAbstract>& data, | ||
| 51 | const Eigen::Ref<const VectorXs>& x) = 0; | ||
| 52 | virtual void calcDiff(const std::shared_ptr<ImpulseDataAbstract>& data, | ||
| 53 | const Eigen::Ref<const VectorXs>& x) = 0; | ||
| 54 | |||
| 55 | virtual void updateForce(const std::shared_ptr<ImpulseDataAbstract>& data, | ||
| 56 | const VectorXs& force) = 0; | ||
| 57 | void updateForceDiff(const std::shared_ptr<ImpulseDataAbstract>& data, | ||
| 58 | const MatrixXs& df_dx) const; | ||
| 59 | void setZeroForce(const std::shared_ptr<ImpulseDataAbstract>& data) const; | ||
| 60 | void setZeroForceDiff(const std::shared_ptr<ImpulseDataAbstract>& data) const; | ||
| 61 | |||
| 62 | virtual std::shared_ptr<ImpulseDataAbstract> createData( | ||
| 63 | pinocchio::DataTpl<Scalar>* const data); | ||
| 64 | |||
| 65 | const std::shared_ptr<StateMultibody>& get_state() const; | ||
| 66 | std::size_t get_nc() const; | ||
| 67 | DEPRECATED("Use get_nc().", std::size_t get_ni() const;) | ||
| 68 | std::size_t get_nu() const; | ||
| 69 | |||
| 70 | /** | ||
| 71 | * @brief Return the reference frame id | ||
| 72 | */ | ||
| 73 | pinocchio::FrameIndex get_id() const; | ||
| 74 | |||
| 75 | /** | ||
| 76 | * @brief Modify the reference frame id | ||
| 77 | */ | ||
| 78 | void set_id(const pinocchio::FrameIndex id); | ||
| 79 | |||
| 80 | /** | ||
| 81 | * @brief Modify the type of contact | ||
| 82 | */ | ||
| 83 | void set_type(const pinocchio::ReferenceFrame type); | ||
| 84 | |||
| 85 | /** | ||
| 86 | * @brief Return the type of contact | ||
| 87 | */ | ||
| 88 | pinocchio::ReferenceFrame get_type() const; | ||
| 89 | |||
| 90 | /** | ||
| 91 | * @brief Print information on the impulse model | ||
| 92 | */ | ||
| 93 | template <class Scalar> | ||
| 94 | friend std::ostream& operator<<(std::ostream& os, | ||
| 95 | const ImpulseModelAbstractTpl<Scalar>& model); | ||
| 96 | |||
| 97 | /** | ||
| 98 | * @brief Print relevant information of the impulse model | ||
| 99 | * | ||
| 100 | * @param[out] os Output stream object | ||
| 101 | */ | ||
| 102 | virtual void print(std::ostream& os) const; | ||
| 103 | |||
| 104 | protected: | ||
| 105 | std::shared_ptr<StateMultibody> state_; | ||
| 106 | std::size_t nc_; | ||
| 107 | pinocchio::FrameIndex id_; //!< Reference frame id of the contact | ||
| 108 | pinocchio::ReferenceFrame type_; //!< Type of contact | ||
| 109 | ✗ | ImpulseModelAbstractTpl() : state_(nullptr), nc_(0), id_(0) {}; | |
| 110 | }; | ||
| 111 | |||
| 112 | template <typename _Scalar> | ||
| 113 | struct ImpulseDataAbstractTpl : public ForceDataAbstractTpl<_Scalar> { | ||
| 114 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 115 | |||
| 116 | typedef _Scalar Scalar; | ||
| 117 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 118 | typedef ForceDataAbstractTpl<Scalar> Base; | ||
| 119 | typedef typename MathBase::VectorXs VectorXs; | ||
| 120 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 121 | typedef typename pinocchio::SE3Tpl<Scalar> SE3; | ||
| 122 | |||
| 123 | template <template <typename Scalar> class Model> | ||
| 124 | 10536 | ImpulseDataAbstractTpl(Model<Scalar>* const model, | |
| 125 | pinocchio::DataTpl<Scalar>* const data) | ||
| 126 | : Base(model, data), | ||
| 127 |
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10536 | dv0_dq(model->get_nc(), model->get_state()->get_nv()), |
| 128 |
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21072 | dtau_dq(model->get_state()->get_nv(), model->get_state()->get_nv()) { |
| 129 |
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10536 | dv0_dq.setZero(); |
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10536 | dtau_dq.setZero(); |
| 131 | 10536 | } | |
| 132 | 20848 | virtual ~ImpulseDataAbstractTpl() = default; | |
| 133 | |||
| 134 | using Base::df_dx; | ||
| 135 | using Base::f; | ||
| 136 | using Base::frame; | ||
| 137 | using Base::Jc; | ||
| 138 | using Base::jMf; | ||
| 139 | using Base::pinocchio; | ||
| 140 | |||
| 141 | typename SE3::ActionMatrixType fXj; | ||
| 142 | MatrixXs dv0_dq; | ||
| 143 | MatrixXs dtau_dq; | ||
| 144 | }; | ||
| 145 | |||
| 146 | } // namespace crocoddyl | ||
| 147 | |||
| 148 | /* --- Details -------------------------------------------------------------- */ | ||
| 149 | /* --- Details -------------------------------------------------------------- */ | ||
| 150 | /* --- Details -------------------------------------------------------------- */ | ||
| 151 | #include "crocoddyl/multibody/impulse-base.hxx" | ||
| 152 | |||
| 153 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::ImpulseModelAbstractTpl) | ||
| 154 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::ImpulseDataAbstractTpl) | ||
| 155 | |||
| 156 | #endif // CROCODDYL_MULTIBODY_IMPULSE_BASE_HPP_ | ||
| 157 |