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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	include/crocoddyl/multibody/contact-base.hpp	Lines:	8	10	80.0 %
Date:	2024-02-13 11:12:33	Branches:	8	16	50.0 %


///////////////////////////////////////////////////////////////////////////////
// BSD 3-Clause License
//
// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh,
//                          Heriot-Watt University
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
///////////////////////////////////////////////////////////////////////////////

#ifndef CROCODDYL_MULTIBODY_CONTACT_BASE_HPP_
#define CROCODDYL_MULTIBODY_CONTACT_BASE_HPP_

#include <pinocchio/multibody/fwd.hpp>

#include "crocoddyl/core/mathbase.hpp"
#include "crocoddyl/core/utils/deprecate.hpp"
#include "crocoddyl/multibody/force-base.hpp"
#include "crocoddyl/multibody/fwd.hpp"
#include "crocoddyl/multibody/states/multibody.hpp"

namespace crocoddyl {

template <typename _Scalar>
class ContactModelAbstractTpl {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ContactDataAbstractTpl<Scalar> ContactDataAbstract;
  typedef StateMultibodyTpl<Scalar> StateMultibody;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;

  /**
   * @brief Initialize the contact abstraction
   *
   * @param[in] state  State of the multibody system
   * @param[in] type   Type of contact
   * @param[in] nc     Dimension of the contact model
   * @param[in] nu     Dimension of the control vector
   */
  ContactModelAbstractTpl(boost::shared_ptr<StateMultibody> state,
                          const pinocchio::ReferenceFrame type,
                          const std::size_t nc, const std::size_t nu);
  ContactModelAbstractTpl(boost::shared_ptr<StateMultibody> state,
                          const pinocchio::ReferenceFrame type,
                          const std::size_t nc);

  DEPRECATED(
      "Use constructor that passes the type type of contact, this assumes is "
      "pinocchio::LOCAL",
      ContactModelAbstractTpl(boost::shared_ptr<StateMultibody> state,
                              const std::size_t nc, const std::size_t nu);)
  DEPRECATED(
      "Use constructor that passes the type type of contact, this assumes is "
      "pinocchio::LOCAL",
      ContactModelAbstractTpl(boost::shared_ptr<StateMultibody> state,
                              const std::size_t nc);)
  virtual ~ContactModelAbstractTpl();

  /**
   * @brief Compute the contact Jacobian and acceleration drift
   *
   * @param[in] data  Contact data
   * @param[in] x     State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$
   * @param[in] u     Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$
   */
  virtual void calc(const boost::shared_ptr<ContactDataAbstract>& data,
                    const Eigen::Ref<const VectorXs>& x) = 0;

  /**
   * @brief Compute the derivatives of the acceleration-based contact
   *
   * @param[in] data  Contact data
   * @param[in] x     State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$
   * @param[in] u     Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$
   */
  virtual void calcDiff(const boost::shared_ptr<ContactDataAbstract>& data,
                        const Eigen::Ref<const VectorXs>& x) = 0;

  /**
   * @brief Convert the force into a stack of spatial forces
   *
   * @param[in] data   Contact data
   * @param[in] force  Contact force
   */
  virtual void updateForce(const boost::shared_ptr<ContactDataAbstract>& data,
                           const VectorXs& force) = 0;

  /**
   * @brief Convert the force into a stack of spatial forces
   *
   * @param[in] data   Contact data
   * @param[in] force  Contact force
   */
  void updateForceDiff(const boost::shared_ptr<ContactDataAbstract>& data,
                       const MatrixXs& df_dx, const MatrixXs& df_du) const;

  /**
   * @brief Set the stack of spatial forces to zero
   *
   * @param[in] data  Contact data
   */
  void setZeroForce(const boost::shared_ptr<ContactDataAbstract>& data) const;

  /**
   * @brief Set the stack of spatial forces Jacobians to zero
   *
   * @param[in] data  Contact data
   */
  void setZeroForceDiff(
      const boost::shared_ptr<ContactDataAbstract>& data) const;

  /**
   * @brief Create the contact data
   */
  virtual boost::shared_ptr<ContactDataAbstract> createData(
      pinocchio::DataTpl<Scalar>* const data);

  /**
   * @brief Return the state
   */
  const boost::shared_ptr<StateMultibody>& get_state() const;

  /**
   * @brief Return the dimension of the contact
   */
  std::size_t get_nc() const;

  /**
   * @brief Return the dimension of the control vector
   */
  std::size_t get_nu() const;

  /**
   * @brief Return the reference frame id
   */
  pinocchio::FrameIndex get_id() const;

  /**
   * @brief Modify the reference frame id
   */
  void set_id(const pinocchio::FrameIndex id);

  /**
   * @brief Modify the type of contact
   */
  void set_type(const pinocchio::ReferenceFrame type);

  /**
   * @brief Return the type of contact
   */
  pinocchio::ReferenceFrame get_type() const;

  /**
   * @brief Print information on the contact model
   */
  template <class Scalar>
  friend std::ostream& operator<<(std::ostream& os,
                                  const ContactModelAbstractTpl<Scalar>& model);

  /**
   * @brief Print relevant information of the contact model
   *
   * @param[out] os  Output stream object
   */
  virtual void print(std::ostream& os) const;

 protected:
  boost::shared_ptr<StateMultibody> state_;
  std::size_t nc_;
  std::size_t nu_;
  pinocchio::FrameIndex id_;        //!< Reference frame id of the contact
  pinocchio::ReferenceFrame type_;  //!< Type of contact
};

template <typename _Scalar>
struct ContactDataAbstractTpl : public ForceDataAbstractTpl<_Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ForceDataAbstractTpl<Scalar> Base;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
  typedef typename pinocchio::SE3Tpl<Scalar> SE3;

  template <template <typename Scalar> class Model>
  ContactDataAbstractTpl(Model<Scalar>* const model,
                         pinocchio::DataTpl<Scalar>* const data)
      : Base(model, data),
        fXj(jMf.inverse().toActionMatrix()),
        a0(model->get_nc()),
        da0_dx(model->get_nc(), model->get_state()->get_ndx()),
        dtau_dq(model->get_state()->get_nv(), model->get_state()->get_nv()) {
    a0.setZero();
    da0_dx.setZero();
    dtau_dq.setZero();
  }
  virtual ~ContactDataAbstractTpl() {}

  using Base::df_du;
  using Base::df_dx;
  using Base::f;
  using Base::frame;
  using Base::Jc;
  using Base::jMf;
  using Base::pinocchio;

  typename SE3::ActionMatrixType fXj;
  VectorXs a0;
  MatrixXs da0_dx;
  MatrixXs dtau_dq;
};

}  // namespace crocoddyl

/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/multibody/contact-base.hxx"

#endif  // CROCODDYL_MULTIBODY_CONTACT_BASE_HPP_


Generated by: GCOVR (Version 4.2)

Line	Branch	Exec	Source
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_CONTACT_BASE_HPP_
11			#define CROCODDYL_MULTIBODY_CONTACT_BASE_HPP_
12
13			#include <pinocchio/multibody/fwd.hpp>
14
15			#include "crocoddyl/core/mathbase.hpp"
16			#include "crocoddyl/core/utils/deprecate.hpp"
17			#include "crocoddyl/multibody/force-base.hpp"
18			#include "crocoddyl/multibody/fwd.hpp"
19			#include "crocoddyl/multibody/states/multibody.hpp"
20
21			namespace crocoddyl {
22
23			template <typename _Scalar>
24			class ContactModelAbstractTpl {
25			public:
26			EIGEN_MAKE_ALIGNED_OPERATOR_NEW
27
28			typedef _Scalar Scalar;
29			typedef MathBaseTpl<Scalar> MathBase;
30			typedef ContactDataAbstractTpl<Scalar> ContactDataAbstract;
31			typedef StateMultibodyTpl<Scalar> StateMultibody;
32			typedef typename MathBase::VectorXs VectorXs;
33			typedef typename MathBase::MatrixXs MatrixXs;
34
35			/**
36			* @brief Initialize the contact abstraction
37			*
38			* @param[in] state State of the multibody system
39			* @param[in] type Type of contact
40			* @param[in] nc Dimension of the contact model
41			* @param[in] nu Dimension of the control vector
42			*/
43			ContactModelAbstractTpl(boost::shared_ptr<StateMultibody> state,
44			const pinocchio::ReferenceFrame type,
45			const std::size_t nc, const std::size_t nu);
46			ContactModelAbstractTpl(boost::shared_ptr<StateMultibody> state,
47			const pinocchio::ReferenceFrame type,
48			const std::size_t nc);
49
50			DEPRECATED(
51			"Use constructor that passes the type type of contact, this assumes is "
52			"pinocchio::LOCAL",
53			ContactModelAbstractTpl(boost::shared_ptr<StateMultibody> state,
54			const std::size_t nc, const std::size_t nu);)
55			DEPRECATED(
56			"Use constructor that passes the type type of contact, this assumes is "
57			"pinocchio::LOCAL",
58			ContactModelAbstractTpl(boost::shared_ptr<StateMultibody> state,
59			const std::size_t nc);)
60			virtual ~ContactModelAbstractTpl();
61
62			/**
63			* @brief Compute the contact Jacobian and acceleration drift
64			*
65			* @param[in] data Contact data
66			* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$
67			* @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$
68			*/
69			virtual void calc(const boost::shared_ptr<ContactDataAbstract>& data,
70			const Eigen::Ref<const VectorXs>& x) = 0;
71
72			/**
73			* @brief Compute the derivatives of the acceleration-based contact
74			*
75			* @param[in] data Contact data
76			* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$
77			* @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$
78			*/
79			virtual void calcDiff(const boost::shared_ptr<ContactDataAbstract>& data,
80			const Eigen::Ref<const VectorXs>& x) = 0;
81
82			/**
83			* @brief Convert the force into a stack of spatial forces
84			*
85			* @param[in] data Contact data
86			* @param[in] force Contact force
87			*/
88			virtual void updateForce(const boost::shared_ptr<ContactDataAbstract>& data,
89			const VectorXs& force) = 0;
90
91			/**
92			* @brief Convert the force into a stack of spatial forces
93			*
94			* @param[in] data Contact data
95			* @param[in] force Contact force
96			*/
97			void updateForceDiff(const boost::shared_ptr<ContactDataAbstract>& data,
98			const MatrixXs& df_dx, const MatrixXs& df_du) const;
99
100			/**
101			* @brief Set the stack of spatial forces to zero
102			*
103			* @param[in] data Contact data
104			*/
105			void setZeroForce(const boost::shared_ptr<ContactDataAbstract>& data) const;
106
107			/**
108			* @brief Set the stack of spatial forces Jacobians to zero
109			*
110			* @param[in] data Contact data
111			*/
112			void setZeroForceDiff(
113			const boost::shared_ptr<ContactDataAbstract>& data) const;
114
115			/**
116			* @brief Create the contact data
117			*/
118			virtual boost::shared_ptr<ContactDataAbstract> createData(
119			pinocchio::DataTpl<Scalar>* const data);
120
121			/**
122			* @brief Return the state
123			*/
124			const boost::shared_ptr<StateMultibody>& get_state() const;
125
126			/**
127			* @brief Return the dimension of the contact
128			*/
129			std::size_t get_nc() const;
130
131			/**
132			* @brief Return the dimension of the control vector
133			*/
134			std::size_t get_nu() const;
135
136			/**
137			* @brief Return the reference frame id
138			*/
139			pinocchio::FrameIndex get_id() const;
140
141			/**
142			* @brief Modify the reference frame id
143			*/
144			void set_id(const pinocchio::FrameIndex id);
145
146			/**
147			* @brief Modify the type of contact
148			*/
149			void set_type(const pinocchio::ReferenceFrame type);
150
151			/**
152			* @brief Return the type of contact
153			*/
154			pinocchio::ReferenceFrame get_type() const;
155
156			/**
157			* @brief Print information on the contact model
158			*/
159			template <class Scalar>
160			friend std::ostream& operator<<(std::ostream& os,
161			const ContactModelAbstractTpl<Scalar>& model);
162
163			/**
164			* @brief Print relevant information of the contact model
165			*
166			* @param[out] os Output stream object
167			*/
168			virtual void print(std::ostream& os) const;
169
170			protected:
171			boost::shared_ptr<StateMultibody> state_;
172			std::size_t nc_;
173			std::size_t nu_;
174			pinocchio::FrameIndex id_; //!< Reference frame id of the contact
175			pinocchio::ReferenceFrame type_; //!< Type of contact
176			};
177
178			template <typename _Scalar>
179			struct ContactDataAbstractTpl : public ForceDataAbstractTpl<_Scalar> {
180			EIGEN_MAKE_ALIGNED_OPERATOR_NEW
181
182			typedef _Scalar Scalar;
183			typedef MathBaseTpl<Scalar> MathBase;
184			typedef ForceDataAbstractTpl<Scalar> Base;
185			typedef typename MathBase::VectorXs VectorXs;
186			typedef typename MathBase::MatrixXs MatrixXs;
187			typedef typename pinocchio::SE3Tpl<Scalar> SE3;
188
189			template <template <typename Scalar> class Model>
190		326646	ContactDataAbstractTpl(Model<Scalar>* const model,
191			pinocchio::DataTpl<Scalar>* const data)
192			: Base(model, data),
193			fXj(jMf.inverse().toActionMatrix()),
194			a0(model->get_nc()),
195		326646	da0_dx(model->get_nc(), model->get_state()->get_ndx()),
196	✓✗✓✗ ✓✗✓✗ ✓✗	653292	dtau_dq(model->get_state()->get_nv(), model->get_state()->get_nv()) {
197	✓✗	326646	a0.setZero();
198	✓✗	326646	da0_dx.setZero();
199	✓✗	326646	dtau_dq.setZero();
200		326646	}
201		163462	virtual ~ContactDataAbstractTpl() {}
202
203			using Base::df_du;
204			using Base::df_dx;
205			using Base::f;
206			using Base::frame;
207			using Base::Jc;
208			using Base::jMf;
209			using Base::pinocchio;
210
211			typename SE3::ActionMatrixType fXj;
212			VectorXs a0;
213			MatrixXs da0_dx;
214			MatrixXs dtau_dq;
215			};
216
217			} // namespace crocoddyl
218
219			/* --- Details -------------------------------------------------------------- */
220			/* --- Details -------------------------------------------------------------- */
221			/* --- Details -------------------------------------------------------------- */
222			#include "crocoddyl/multibody/contact-base.hxx"
223
224			#endif // CROCODDYL_MULTIBODY_CONTACT_BASE_HPP_