| Directory: | ./ |
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| File: | include/crocoddyl/multibody/actions/impulse-fwddyn.hpp |
| Date: | 2025-03-26 19:23:43 |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, | ||
| 5 | // University of Oxford, Heriot-Watt University | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | #ifndef CROCODDYL_MULTIBODY_ACTIONS_IMPULSE_FWDDYN_HPP_ | ||
| 11 | #define CROCODDYL_MULTIBODY_ACTIONS_IMPULSE_FWDDYN_HPP_ | ||
| 12 | |||
| 13 | #include <pinocchio/algorithm/centroidal.hpp> | ||
| 14 | #include <pinocchio/algorithm/compute-all-terms.hpp> | ||
| 15 | #include <pinocchio/algorithm/contact-dynamics.hpp> | ||
| 16 | #include <pinocchio/algorithm/frames.hpp> | ||
| 17 | #include <pinocchio/algorithm/kinematics-derivatives.hpp> | ||
| 18 | #include <pinocchio/algorithm/rnea-derivatives.hpp> | ||
| 19 | #include <stdexcept> | ||
| 20 | |||
| 21 | #include "crocoddyl/core/action-base.hpp" | ||
| 22 | #include "crocoddyl/core/constraints/constraint-manager.hpp" | ||
| 23 | #include "crocoddyl/core/costs/cost-sum.hpp" | ||
| 24 | #include "crocoddyl/multibody/actions/impulse-fwddyn.hpp" | ||
| 25 | #include "crocoddyl/multibody/actuations/floating-base.hpp" | ||
| 26 | #include "crocoddyl/multibody/data/impulses.hpp" | ||
| 27 | #include "crocoddyl/multibody/fwd.hpp" | ||
| 28 | #include "crocoddyl/multibody/impulses/multiple-impulses.hpp" | ||
| 29 | #include "crocoddyl/multibody/states/multibody.hpp" | ||
| 30 | |||
| 31 | namespace crocoddyl { | ||
| 32 | |||
| 33 | /** | ||
| 34 | * @brief Action model for impulse forward dynamics in multibody systems. | ||
| 35 | * | ||
| 36 | * This class implements impulse forward dynamics given a stack of | ||
| 37 | * rigid-impulses described in `ImpulseModelMultipleTpl`, i.e., \f[ | ||
| 38 | * \left[\begin{matrix}\mathbf{v}^+ \\ -\boldsymbol{\Lambda}\end{matrix}\right] | ||
| 39 | * = \left[\begin{matrix}\mathbf{M} & \mathbf{J}^{\top}_c \\ {\mathbf{J}_{c}} & | ||
| 40 | * \mathbf{0} \end{matrix}\right]^{-1} | ||
| 41 | * \left[\begin{matrix}\mathbf{M}\mathbf{v}^- \\ -e\mathbf{J}_c\mathbf{v}^- | ||
| 42 | * \\\end{matrix}\right], \f] where \f$\mathbf{q}\in Q\f$, | ||
| 43 | * \f$\mathbf{v}\in\mathbb{R}^{nv}\f$ are the configuration point and | ||
| 44 | * generalized velocity (its tangent vector), respectively; \f$\mathbf{v}^+\f$, | ||
| 45 | * \f$\mathbf{v}^-\f$ are the discontinuous changes in the generalized velocity | ||
| 46 | * (i.e., velocity before and after impact, respectively); | ||
| 47 | * \f$\mathbf{J}_c\in\mathbb{R}^{nc\times nv}\f$ is the contact Jacobian | ||
| 48 | * expressed in the local frame; and | ||
| 49 | * \f$\boldsymbol{\Lambda}\in\mathbb{R}^{nc}\f$ is the impulse vector. | ||
| 50 | * | ||
| 51 | * The derivatives of the next state and contact impulses are computed | ||
| 52 | * efficiently based on the analytical derivatives of Recursive Newton Euler | ||
| 53 | * Algorithm (RNEA) as described in \cite mastalli-icra20. Note that the | ||
| 54 | * algorithm for computing the RNEA derivatives is described in \cite | ||
| 55 | * carpentier-rss18. | ||
| 56 | * | ||
| 57 | * The stack of cost and constraint functions are implemented in | ||
| 58 | * `CostModelSumTpl` and `ConstraintModelAbstractTpl`, respectively. The | ||
| 59 | * computation of the impulse dynamics and its derivatives are carrying out | ||
| 60 | * inside `calc()` and `calcDiff()` functions, respectively. It is also | ||
| 61 | * important to remark that `calcDiff()` computes the derivatives using the | ||
| 62 | * latest stored values by `calc()`. Thus, we need to run `calc()` first. | ||
| 63 | * | ||
| 64 | * \sa `ActionModelAbstractTpl`, `calc()`, `calcDiff()`, `createData()` | ||
| 65 | */ | ||
| 66 | template <typename _Scalar> | ||
| 67 | class ActionModelImpulseFwdDynamicsTpl | ||
| 68 | : public ActionModelAbstractTpl<_Scalar> { | ||
| 69 | public: | ||
| 70 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 71 | ✗ | CROCODDYL_DERIVED_CAST(ActionModelBase, ActionModelImpulseFwdDynamicsTpl) | |
| 72 | |||
| 73 | typedef _Scalar Scalar; | ||
| 74 | typedef ActionModelAbstractTpl<Scalar> Base; | ||
| 75 | typedef ActionDataImpulseFwdDynamicsTpl<Scalar> Data; | ||
| 76 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 77 | typedef CostModelSumTpl<Scalar> CostModelSum; | ||
| 78 | typedef ConstraintModelManagerTpl<Scalar> ConstraintModelManager; | ||
| 79 | typedef StateMultibodyTpl<Scalar> StateMultibody; | ||
| 80 | typedef ActionDataAbstractTpl<Scalar> ActionDataAbstract; | ||
| 81 | typedef ImpulseModelMultipleTpl<Scalar> ImpulseModelMultiple; | ||
| 82 | typedef typename MathBase::VectorXs VectorXs; | ||
| 83 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 84 | |||
| 85 | /** | ||
| 86 | * @brief Initialize the impulse forward-dynamics action model | ||
| 87 | * | ||
| 88 | * It describes the impulse dynamics of a multibody system under rigid-contact | ||
| 89 | * constraints defined by `ImpulseModelMultipleTpl`. It computes the cost | ||
| 90 | * described in `CostModelSumTpl`. | ||
| 91 | * | ||
| 92 | * @param[in] state State of the multibody system | ||
| 93 | * @param[in] actuation Actuation model | ||
| 94 | * @param[in] impulses Stack of rigid impulses | ||
| 95 | * @param[in] costs Stack of cost functions | ||
| 96 | * @param[in] r_coeff Restitution coefficient (default 0.) | ||
| 97 | * @param[in] JMinvJt_damping Damping term used in operational space inertia | ||
| 98 | * matrix (default 0.) | ||
| 99 | * @param[in] enable_force Enable the computation of the contact force | ||
| 100 | * derivatives (default false) | ||
| 101 | */ | ||
| 102 | ActionModelImpulseFwdDynamicsTpl( | ||
| 103 | std::shared_ptr<StateMultibody> state, | ||
| 104 | std::shared_ptr<ImpulseModelMultiple> impulses, | ||
| 105 | std::shared_ptr<CostModelSum> costs, const Scalar r_coeff = Scalar(0.), | ||
| 106 | const Scalar JMinvJt_damping = Scalar(0.), | ||
| 107 | const bool enable_force = false); | ||
| 108 | |||
| 109 | /** | ||
| 110 | * @brief Initialize the impulse forward-dynamics action model | ||
| 111 | * | ||
| 112 | * It describes the impulse dynamics of a multibody system under rigid-contact | ||
| 113 | * constraints defined by `ImpulseModelMultipleTpl`. It computes the cost | ||
| 114 | * described in `CostModelSumTpl`. | ||
| 115 | * | ||
| 116 | * @param[in] state State of the multibody system | ||
| 117 | * @param[in] actuation Actuation model | ||
| 118 | * @param[in] impulses Stack of rigid impulses | ||
| 119 | * @param[in] costs Stack of cost functions | ||
| 120 | * @param[in] constraints Stack of constraints | ||
| 121 | * @param[in] r_coeff Restitution coefficient (default 0.) | ||
| 122 | * @param[in] JMinvJt_damping Damping term used in operational space inertia | ||
| 123 | * matrix (default 0.) | ||
| 124 | * @param[in] enable_force Enable the computation of the contact force | ||
| 125 | * derivatives (default false) | ||
| 126 | */ | ||
| 127 | ActionModelImpulseFwdDynamicsTpl( | ||
| 128 | std::shared_ptr<StateMultibody> state, | ||
| 129 | std::shared_ptr<ImpulseModelMultiple> impulses, | ||
| 130 | std::shared_ptr<CostModelSum> costs, | ||
| 131 | std::shared_ptr<ConstraintModelManager> constraints, | ||
| 132 | const Scalar r_coeff = Scalar(0.), | ||
| 133 | const Scalar JMinvJt_damping = Scalar(0.), | ||
| 134 | const bool enable_force = false); | ||
| 135 | 166 | virtual ~ActionModelImpulseFwdDynamicsTpl() = default; | |
| 136 | |||
| 137 | /** | ||
| 138 | * @brief Compute the system acceleration, and cost value | ||
| 139 | * | ||
| 140 | * It computes the system acceleration using the impulse dynamics. | ||
| 141 | * | ||
| 142 | * @param[in] data Impulse forward-dynamics data | ||
| 143 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 144 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 145 | */ | ||
| 146 | virtual void calc(const std::shared_ptr<ActionDataAbstract>& data, | ||
| 147 | const Eigen::Ref<const VectorXs>& x, | ||
| 148 | const Eigen::Ref<const VectorXs>& u) override; | ||
| 149 | |||
| 150 | /** | ||
| 151 | * @brief Compute the total cost value for nodes that depends only on the | ||
| 152 | * state | ||
| 153 | * | ||
| 154 | * It updates the total cost and the system acceleration is not updated as it | ||
| 155 | * is expected to be zero. Additionally, it does not update the contact | ||
| 156 | * forces. This function is used in the terminal nodes of an optimal control | ||
| 157 | * problem. | ||
| 158 | * | ||
| 159 | * @param[in] data Impulse forward-dynamics data | ||
| 160 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 161 | */ | ||
| 162 | virtual void calc(const std::shared_ptr<ActionDataAbstract>& data, | ||
| 163 | const Eigen::Ref<const VectorXs>& x) override; | ||
| 164 | |||
| 165 | /** | ||
| 166 | * @brief Compute the derivatives of the impulse dynamics, and cost function | ||
| 167 | * | ||
| 168 | * @param[in] data Impulse forward-dynamics data | ||
| 169 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 170 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 171 | */ | ||
| 172 | virtual void calcDiff(const std::shared_ptr<ActionDataAbstract>& data, | ||
| 173 | const Eigen::Ref<const VectorXs>& x, | ||
| 174 | const Eigen::Ref<const VectorXs>& u) override; | ||
| 175 | |||
| 176 | /** | ||
| 177 | * @brief Compute the derivatives of the cost functions with respect to the | ||
| 178 | * state only | ||
| 179 | * | ||
| 180 | * It updates the derivatives of the cost function with respect to the state | ||
| 181 | * only. Additionally, it does not update the contact forces derivatives. This | ||
| 182 | * function is used in the terminal nodes of an optimal control problem. | ||
| 183 | * | ||
| 184 | * @param[in] data Impulse forward-dynamics data | ||
| 185 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 186 | */ | ||
| 187 | virtual void calcDiff(const std::shared_ptr<ActionDataAbstract>& data, | ||
| 188 | const Eigen::Ref<const VectorXs>& x) override; | ||
| 189 | |||
| 190 | /** | ||
| 191 | * @brief Create the impulse forward-dynamics data | ||
| 192 | * | ||
| 193 | * @return impulse forward-dynamics data | ||
| 194 | */ | ||
| 195 | virtual std::shared_ptr<ActionDataAbstract> createData() override; | ||
| 196 | |||
| 197 | /** | ||
| 198 | * @brief Cast the impulse-fwddyn model to a different scalar type. | ||
| 199 | * | ||
| 200 | * It is useful for operations requiring different precision or scalar types. | ||
| 201 | * | ||
| 202 | * @tparam NewScalar The new scalar type to cast to. | ||
| 203 | * @return ActionModelImpulseFwdDynamicsTpl<NewScalar> An action model with | ||
| 204 | * the new scalar type. | ||
| 205 | */ | ||
| 206 | template <typename NewScalar> | ||
| 207 | ActionModelImpulseFwdDynamicsTpl<NewScalar> cast() const; | ||
| 208 | |||
| 209 | /** | ||
| 210 | * @brief Check that the given data belongs to the impulse forward-dynamics | ||
| 211 | * data | ||
| 212 | */ | ||
| 213 | virtual bool checkData( | ||
| 214 | const std::shared_ptr<ActionDataAbstract>& data) override; | ||
| 215 | |||
| 216 | /** | ||
| 217 | * @brief @copydoc Base::quasiStatic() | ||
| 218 | */ | ||
| 219 | virtual void quasiStatic(const std::shared_ptr<ActionDataAbstract>& data, | ||
| 220 | Eigen::Ref<VectorXs> u, | ||
| 221 | const Eigen::Ref<const VectorXs>& x, | ||
| 222 | const std::size_t maxiter = 100, | ||
| 223 | const Scalar tol = Scalar(1e-9)) override; | ||
| 224 | |||
| 225 | /** | ||
| 226 | * @brief Return the number of inequality constraints | ||
| 227 | */ | ||
| 228 | virtual std::size_t get_ng() const override; | ||
| 229 | |||
| 230 | /** | ||
| 231 | * @brief Return the number of equality constraints | ||
| 232 | */ | ||
| 233 | virtual std::size_t get_nh() const override; | ||
| 234 | |||
| 235 | /** | ||
| 236 | * @brief Return the number of equality terminal constraints | ||
| 237 | */ | ||
| 238 | virtual std::size_t get_ng_T() const override; | ||
| 239 | |||
| 240 | /** | ||
| 241 | * @brief Return the number of equality terminal constraints | ||
| 242 | */ | ||
| 243 | virtual std::size_t get_nh_T() const override; | ||
| 244 | |||
| 245 | /** | ||
| 246 | * @brief Return the lower bound of the inequality constraints | ||
| 247 | */ | ||
| 248 | virtual const VectorXs& get_g_lb() const override; | ||
| 249 | |||
| 250 | /** | ||
| 251 | * @brief Return the upper bound of the inequality constraints | ||
| 252 | */ | ||
| 253 | virtual const VectorXs& get_g_ub() const override; | ||
| 254 | |||
| 255 | /** | ||
| 256 | * @brief Return the impulse model | ||
| 257 | */ | ||
| 258 | const std::shared_ptr<ImpulseModelMultiple>& get_impulses() const; | ||
| 259 | |||
| 260 | /** | ||
| 261 | * @brief Return the cost model | ||
| 262 | */ | ||
| 263 | const std::shared_ptr<CostModelSum>& get_costs() const; | ||
| 264 | |||
| 265 | /** | ||
| 266 | * @brief Return the constraint model manager | ||
| 267 | */ | ||
| 268 | const std::shared_ptr<ConstraintModelManager>& get_constraints() const; | ||
| 269 | |||
| 270 | /** | ||
| 271 | * @brief Return the Pinocchio model | ||
| 272 | */ | ||
| 273 | pinocchio::ModelTpl<Scalar>& get_pinocchio() const; | ||
| 274 | |||
| 275 | /** | ||
| 276 | * @brief Return the armature vector | ||
| 277 | */ | ||
| 278 | const VectorXs& get_armature() const; | ||
| 279 | |||
| 280 | /** | ||
| 281 | * @brief Return the restituion coefficient | ||
| 282 | */ | ||
| 283 | const Scalar get_restitution_coefficient() const; | ||
| 284 | |||
| 285 | /** | ||
| 286 | * @brief Return the damping factor used in the operational space inertia | ||
| 287 | * matrix | ||
| 288 | */ | ||
| 289 | const Scalar get_damping_factor() const; | ||
| 290 | |||
| 291 | /** | ||
| 292 | * @brief Modify the armature vector | ||
| 293 | */ | ||
| 294 | void set_armature(const VectorXs& armature); | ||
| 295 | |||
| 296 | /** | ||
| 297 | * @brief Modify the restituion coefficient | ||
| 298 | */ | ||
| 299 | void set_restitution_coefficient(const Scalar r_coeff); | ||
| 300 | |||
| 301 | /** | ||
| 302 | * @brief Modify the damping factor used in the operational space inertia | ||
| 303 | * matrix | ||
| 304 | */ | ||
| 305 | void set_damping_factor(const Scalar damping); | ||
| 306 | |||
| 307 | /** | ||
| 308 | * @brief Print relevant information of the impulse forward-dynamics model | ||
| 309 | * | ||
| 310 | * @param[out] os Output stream object | ||
| 311 | */ | ||
| 312 | virtual void print(std::ostream& os) const override; | ||
| 313 | |||
| 314 | protected: | ||
| 315 | using Base::g_lb_; //!< Lower bound of the inequality constraints | ||
| 316 | using Base::g_ub_; //!< Upper bound of the inequality constraints | ||
| 317 | using Base::state_; //!< Model of the state | ||
| 318 | |||
| 319 | private: | ||
| 320 | void init(); | ||
| 321 | void initCalc(Data* data, const Eigen::Ref<const VectorXs>& x); | ||
| 322 | void initCalcDiff(Data* data, const Eigen::Ref<const VectorXs>& x); | ||
| 323 | std::shared_ptr<ImpulseModelMultiple> impulses_; //!< Impulse model | ||
| 324 | std::shared_ptr<CostModelSum> costs_; //!< Cost model | ||
| 325 | std::shared_ptr<ConstraintModelManager> constraints_; //!< Constraint model | ||
| 326 | pinocchio::ModelTpl<Scalar>* pinocchio_; //!< Pinocchio model | ||
| 327 | bool with_armature_; //!< Indicate if we have defined an armature | ||
| 328 | VectorXs armature_; //!< Armature vector | ||
| 329 | Scalar r_coeff_; //!< Restitution coefficient | ||
| 330 | Scalar JMinvJt_damping_; //!< Damping factor used in operational space | ||
| 331 | //!< inertia matrix | ||
| 332 | bool enable_force_; //!< Indicate if we have enabled the computation of the | ||
| 333 | //!< contact-forces derivatives | ||
| 334 | pinocchio::MotionTpl<Scalar> gravity_; //! Gravity acceleration | ||
| 335 | }; | ||
| 336 | |||
| 337 | template <typename _Scalar> | ||
| 338 | struct ActionDataImpulseFwdDynamicsTpl : public ActionDataAbstractTpl<_Scalar> { | ||
| 339 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 340 | typedef _Scalar Scalar; | ||
| 341 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 342 | typedef ActionDataAbstractTpl<Scalar> Base; | ||
| 343 | typedef typename MathBase::VectorXs VectorXs; | ||
| 344 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 345 | |||
| 346 | template <template <typename Scalar> class Model> | ||
| 347 | 4258 | explicit ActionDataImpulseFwdDynamicsTpl(Model<Scalar>* const model) | |
| 348 | : Base(model), | ||
| 349 |
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4258 | pinocchio(pinocchio::DataTpl<Scalar>(model->get_pinocchio())), |
| 350 |
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4258 | multibody(&pinocchio, model->get_impulses()->createData(&pinocchio)), |
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4258 | costs(model->get_costs()->createData(&multibody)), |
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4258 | vnone(model->get_state()->get_nv()), |
| 353 |
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4258 | Kinv(model->get_state()->get_nv() + |
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4258 | model->get_impulses()->get_nc_total(), |
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4258 | model->get_state()->get_nv() + |
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4258 | model->get_impulses()->get_nc_total()), |
| 357 |
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4258 | df_dx(model->get_impulses()->get_nc_total(), |
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4258 | model->get_state()->get_ndx()), |
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12774 | dgrav_dq(model->get_state()->get_nv(), model->get_state()->get_nv()) { |
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4258 | costs->shareMemory(this); |
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4258 | if (model->get_constraints() != nullptr) { |
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796 | constraints = model->get_constraints()->createData(&multibody); |
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796 | constraints->shareMemory(this); |
| 364 | } | ||
| 365 |
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4258 | vnone.setZero(); |
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4258 | Kinv.setZero(); |
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4258 | df_dx.setZero(); |
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4258 | dgrav_dq.setZero(); |
| 369 | 4258 | } | |
| 370 | 8512 | virtual ~ActionDataImpulseFwdDynamicsTpl() = default; | |
| 371 | |||
| 372 | pinocchio::DataTpl<Scalar> pinocchio; | ||
| 373 | DataCollectorMultibodyInImpulseTpl<Scalar> multibody; | ||
| 374 | std::shared_ptr<CostDataSumTpl<Scalar> > costs; | ||
| 375 | std::shared_ptr<ConstraintDataManagerTpl<Scalar> > constraints; | ||
| 376 | VectorXs vnone; | ||
| 377 | MatrixXs Kinv; | ||
| 378 | MatrixXs df_dx; | ||
| 379 | MatrixXs dgrav_dq; | ||
| 380 | }; | ||
| 381 | |||
| 382 | } // namespace crocoddyl | ||
| 383 | |||
| 384 | /* --- Details -------------------------------------------------------------- */ | ||
| 385 | /* --- Details -------------------------------------------------------------- */ | ||
| 386 | /* --- Details -------------------------------------------------------------- */ | ||
| 387 | #include <crocoddyl/multibody/actions/impulse-fwddyn.hxx> | ||
| 388 | |||
| 389 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS( | ||
| 390 | crocoddyl::ActionModelImpulseFwdDynamicsTpl) | ||
| 391 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT( | ||
| 392 | crocoddyl::ActionDataImpulseFwdDynamicsTpl) | ||
| 393 | |||
| 394 | #endif // CROCODDYL_MULTIBODY_ACTIONS_IMPULSE_FWDDYN_HPP_ | ||
| 395 |