| Directory: | ./ |
|---|---|
| File: | include/crocoddyl/multibody/impulse-base.hxx |
| Date: | 2025-01-16 08:47:40 |
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| Lines: | 24 | 36 | 66.7% |
| Branches: | 3 | 18 | 16.7% |
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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 | #include "crocoddyl/core/utils/exception.hpp" | ||
| 11 | #include "crocoddyl/multibody/impulse-base.hpp" | ||
| 12 | |||
| 13 | namespace crocoddyl { | ||
| 14 | |||
| 15 | template <typename Scalar> | ||
| 16 | 421 | ImpulseModelAbstractTpl<Scalar>::ImpulseModelAbstractTpl( | |
| 17 | boost::shared_ptr<StateMultibody> state, | ||
| 18 | const pinocchio::ReferenceFrame type, const std::size_t nc) | ||
| 19 | 421 | : state_(state), nc_(nc), id_(0), type_(type) {} | |
| 20 | |||
| 21 | template <typename Scalar> | ||
| 22 | ImpulseModelAbstractTpl<Scalar>::ImpulseModelAbstractTpl( | ||
| 23 | boost::shared_ptr<StateMultibody> state, const std::size_t nc) | ||
| 24 | : state_(state), nc_(nc), id_(0), type_(pinocchio::ReferenceFrame::LOCAL) { | ||
| 25 | std::cerr << "Deprecated: Use constructor that passes the type of contact, " | ||
| 26 | "this assumes is pinocchio::LOCAL." | ||
| 27 | << std::endl; | ||
| 28 | } | ||
| 29 | |||
| 30 | template <typename Scalar> | ||
| 31 | 850 | ImpulseModelAbstractTpl<Scalar>::~ImpulseModelAbstractTpl() {} | |
| 32 | |||
| 33 | template <typename Scalar> | ||
| 34 | 730 | void ImpulseModelAbstractTpl<Scalar>::updateForceDiff( | |
| 35 | const boost::shared_ptr<ImpulseDataAbstract>& data, | ||
| 36 | const MatrixXs& df_dx) const { | ||
| 37 |
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1460 | if (static_cast<std::size_t>(df_dx.rows()) != nc_ || |
| 38 | 730 | static_cast<std::size_t>(df_dx.cols()) != state_->get_ndx()) | |
| 39 | ✗ | throw_pretty("df_dq has wrong dimension"); | |
| 40 | |||
| 41 | 730 | data->df_dx = df_dx; | |
| 42 | 730 | } | |
| 43 | |||
| 44 | template <typename Scalar> | ||
| 45 | ✗ | void ImpulseModelAbstractTpl<Scalar>::setZeroForce( | |
| 46 | const boost::shared_ptr<ImpulseDataAbstract>& data) const { | ||
| 47 | ✗ | data->f.setZero(); | |
| 48 | ✗ | data->fext.setZero(); | |
| 49 | } | ||
| 50 | |||
| 51 | template <typename Scalar> | ||
| 52 | ✗ | void ImpulseModelAbstractTpl<Scalar>::setZeroForceDiff( | |
| 53 | const boost::shared_ptr<ImpulseDataAbstract>& data) const { | ||
| 54 | ✗ | data->df_dx.setZero(); | |
| 55 | } | ||
| 56 | |||
| 57 | template <typename Scalar> | ||
| 58 | boost::shared_ptr<ImpulseDataAbstractTpl<Scalar> > | ||
| 59 | ✗ | ImpulseModelAbstractTpl<Scalar>::createData( | |
| 60 | pinocchio::DataTpl<Scalar>* const data) { | ||
| 61 | return boost::allocate_shared<ImpulseDataAbstract>( | ||
| 62 | ✗ | Eigen::aligned_allocator<ImpulseDataAbstract>(), this, data); | |
| 63 | } | ||
| 64 | |||
| 65 | template <typename Scalar> | ||
| 66 | ✗ | void ImpulseModelAbstractTpl<Scalar>::print(std::ostream& os) const { | |
| 67 | ✗ | os << boost::core::demangle(typeid(*this).name()); | |
| 68 | } | ||
| 69 | |||
| 70 | template <typename Scalar> | ||
| 71 | const boost::shared_ptr<StateMultibodyTpl<Scalar> >& | ||
| 72 | 115280 | ImpulseModelAbstractTpl<Scalar>::get_state() const { | |
| 73 | 115280 | return state_; | |
| 74 | } | ||
| 75 | |||
| 76 | template <typename Scalar> | ||
| 77 | 76794 | std::size_t ImpulseModelAbstractTpl<Scalar>::get_nc() const { | |
| 78 | 76794 | return nc_; | |
| 79 | } | ||
| 80 | |||
| 81 | template <typename Scalar> | ||
| 82 | std::size_t ImpulseModelAbstractTpl<Scalar>::get_ni() const { | ||
| 83 | return nc_; | ||
| 84 | } | ||
| 85 | |||
| 86 | template <typename Scalar> | ||
| 87 | 10460 | std::size_t ImpulseModelAbstractTpl<Scalar>::get_nu() const { | |
| 88 | 10460 | return 0; | |
| 89 | } | ||
| 90 | |||
| 91 | template <typename Scalar> | ||
| 92 | 20960 | pinocchio::FrameIndex ImpulseModelAbstractTpl<Scalar>::get_id() const { | |
| 93 | 20960 | return id_; | |
| 94 | } | ||
| 95 | |||
| 96 | template <typename Scalar> | ||
| 97 | 11242 | pinocchio::ReferenceFrame ImpulseModelAbstractTpl<Scalar>::get_type() const { | |
| 98 | 11242 | return type_; | |
| 99 | } | ||
| 100 | |||
| 101 | template <typename Scalar> | ||
| 102 | 6 | void ImpulseModelAbstractTpl<Scalar>::set_id(const pinocchio::FrameIndex id) { | |
| 103 | 6 | id_ = id; | |
| 104 | 6 | } | |
| 105 | |||
| 106 | template <typename Scalar> | ||
| 107 | ✗ | void ImpulseModelAbstractTpl<Scalar>::set_type( | |
| 108 | const pinocchio::ReferenceFrame type) { | ||
| 109 | ✗ | type_ = type; | |
| 110 | } | ||
| 111 | |||
| 112 | template <class Scalar> | ||
| 113 | 30 | std::ostream& operator<<(std::ostream& os, | |
| 114 | const ImpulseModelAbstractTpl<Scalar>& model) { | ||
| 115 | 30 | model.print(os); | |
| 116 | 30 | return os; | |
| 117 | } | ||
| 118 | |||
| 119 | } // namespace crocoddyl | ||
| 120 |