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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	include/crocoddyl/multibody/contacts/contact-2d.hpp	Lines:	26	28	92.9 %
Date:	2024-02-13 11:12:33	Branches:	31	62	50.0 %


///////////////////////////////////////////////////////////////////////////////
// BSD 3-Clause License
//
// Copyright (C) 2020-2021, LAAS-CNRS, University of Edinburgh
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
///////////////////////////////////////////////////////////////////////////////

#ifndef CROCODDYL_MULTIBODY_CONTACTS_CONTACT_2D_HPP_
#define CROCODDYL_MULTIBODY_CONTACTS_CONTACT_2D_HPP_

#include <pinocchio/algorithm/frames.hpp>
#include <pinocchio/algorithm/kinematics-derivatives.hpp>
#include <pinocchio/multibody/data.hpp>
#include <pinocchio/spatial/motion.hpp>

#include "crocoddyl/core/utils/exception.hpp"
#include "crocoddyl/multibody/contact-base.hpp"
#include "crocoddyl/multibody/fwd.hpp"

namespace crocoddyl {

template <typename _Scalar>
class ContactModel2DTpl : public ContactModelAbstractTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ContactModelAbstractTpl<Scalar> Base;
  typedef ContactData2DTpl<Scalar> Data;
  typedef StateMultibodyTpl<Scalar> StateMultibody;
  typedef ContactDataAbstractTpl<Scalar> ContactDataAbstract;
  typedef typename MathBase::Vector2s Vector2s;
  typedef typename MathBase::Vector3s Vector3s;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::Matrix3s Matrix3s;

  /**
   * @brief Initialize the 2d contact model
   *
   * @param[in] state  State of the multibody system
   * @param[in] id     Reference frame id of the contact
   * @param[in] xref   Contact position used for the Baumgarte stabilization
   * @param[in] nu     Dimension of the control vector
   * @param[in] gains  Baumgarte stabilization gains
   */
  ContactModel2DTpl(boost::shared_ptr<StateMultibody> state,
                    const pinocchio::FrameIndex id, const Vector2s& xref,
                    const std::size_t nu,
                    const Vector2s& gains = Vector2s::Zero());

  /**
   * @brief Initialize the 2d contact model
   *
   * The default `nu` is obtained from `StateAbstractTpl::get_nv()`.
   *
   * @param[in] state  State of the multibody system
   * @param[in] id     Reference frame id of the contact
   * @param[in] xref   Contact position used for the Baumgarte stabilization
   * @param[in] gains  Baumgarte stabilization gains
   */
  ContactModel2DTpl(boost::shared_ptr<StateMultibody> state,
                    const pinocchio::FrameIndex id, const Vector2s& xref,
                    const Vector2s& gains = Vector2s::Zero());
  virtual ~ContactModel2DTpl();

  /**
   * @brief Compute the 2d contact Jacobian and drift
   *
   * @param[in] data  2d 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);

  /**
   * @brief Compute the derivatives of the 2d contact holonomic constraint
   *
   * @param[in] data  2d 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);

  /**
   * @brief Convert the force into a stack of spatial forces
   *
   * @param[in] data   2d contact data
   * @param[in] force  2d force
   */
  virtual void updateForce(const boost::shared_ptr<ContactDataAbstract>& data,
                           const VectorXs& force);

  /**
   * @brief Create the 2d contact data
   */
  virtual boost::shared_ptr<ContactDataAbstract> createData(
      pinocchio::DataTpl<Scalar>* const data);

  /**
   * @brief Return the reference frame translation
   */
  const Vector2s& get_reference() const;

  /**
   * @brief Create the 2d contact data
   */
  const Vector2s& get_gains() const;

  /**
   * @brief Modify the reference frame translation
   */
  void set_reference(const Vector2s& reference);

  /**
   * @brief Print relevant information of the 2d contact model
   *
   * @param[out] os  Output stream object
   */
  virtual void print(std::ostream& os) const;

 protected:
  using Base::id_;
  using Base::nc_;
  using Base::nu_;
  using Base::state_;

 private:
  Vector2s xref_;   //!< Contact position used for the Baumgarte stabilization
  Vector2s gains_;  //!< Baumgarte stabilization gains
};

template <typename _Scalar>
struct ContactData2DTpl : public ContactDataAbstractTpl<_Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ContactDataAbstractTpl<Scalar> Base;
  typedef typename MathBase::Matrix2s Matrix2s;
  typedef typename MathBase::Matrix3s Matrix3s;
  typedef typename MathBase::Matrix6xs Matrix6xs;
  typedef typename MathBase::Vector3s Vector3s;

  template <template <typename Scalar> class Model>
  ContactData2DTpl(Model<Scalar>* const model,
                   pinocchio::DataTpl<Scalar>* const data)
      : Base(model, data),
        fJf(6, model->get_state()->get_nv()),
        v_partial_dq(6, model->get_state()->get_nv()),
        a_partial_dq(6, model->get_state()->get_nv()),
        a_partial_dv(6, model->get_state()->get_nv()),
        a_partial_da(6, model->get_state()->get_nv()),
        fXjdv_dq(6, model->get_state()->get_nv()),
        fXjda_dq(6, model->get_state()->get_nv()),
        fXjda_dv(6, model->get_state()->get_nv()) {
    frame = model->get_id();
    jMf = model->get_state()->get_pinocchio()->frames[frame].placement;
    fXj = jMf.inverse().toActionMatrix();
    fJf.setZero();
    v_partial_dq.setZero();
    a_partial_dq.setZero();
    a_partial_dv.setZero();
    a_partial_da.setZero();
    fXjdv_dq.setZero();
    fXjda_dq.setZero();
    fXjda_dv.setZero();
    vv.setZero();
    vw.setZero();
    vv_skew.setZero();
    vw_skew.setZero();
    oRf.setZero();
  }

  using Base::a0;
  using Base::da0_dx;
  using Base::df_du;
  using Base::df_dx;
  using Base::f;
  using Base::frame;
  using Base::fXj;
  using Base::Jc;
  using Base::jMf;
  using Base::pinocchio;

  pinocchio::MotionTpl<Scalar> v;
  pinocchio::MotionTpl<Scalar> a;
  Matrix6xs fJf;
  Matrix6xs v_partial_dq;
  Matrix6xs a_partial_dq;
  Matrix6xs a_partial_dv;
  Matrix6xs a_partial_da;
  Matrix6xs fXjdv_dq;
  Matrix6xs fXjda_dq;
  Matrix6xs fXjda_dv;
  Vector3s vv;
  Vector3s vw;
  Matrix3s vv_skew;
  Matrix3s vw_skew;
  Matrix2s oRf;
};

}  // namespace crocoddyl

/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/multibody/contacts/contact-2d.hxx"

#endif  // CROCODDYL_MULTIBODY_CONTACTS_CONTACT_2D_HPP_


Generated by: GCOVR (Version 4.2)

Line	Branch	Exec	Source
1			///////////////////////////////////////////////////////////////////////////////
2			// BSD 3-Clause License
3			//
4			// Copyright (C) 2020-2021, LAAS-CNRS, University of Edinburgh
5			// Copyright note valid unless otherwise stated in individual files.
6			// All rights reserved.
7			///////////////////////////////////////////////////////////////////////////////
8
9			#ifndef CROCODDYL_MULTIBODY_CONTACTS_CONTACT_2D_HPP_
10			#define CROCODDYL_MULTIBODY_CONTACTS_CONTACT_2D_HPP_
11
12			#include <pinocchio/algorithm/frames.hpp>
13			#include <pinocchio/algorithm/kinematics-derivatives.hpp>
14			#include <pinocchio/multibody/data.hpp>
15			#include <pinocchio/spatial/motion.hpp>
16
17			#include "crocoddyl/core/utils/exception.hpp"
18			#include "crocoddyl/multibody/contact-base.hpp"
19			#include "crocoddyl/multibody/fwd.hpp"
20
21			namespace crocoddyl {
22
23			template <typename _Scalar>
24			class ContactModel2DTpl : public ContactModelAbstractTpl<_Scalar> {
25			public:
26			EIGEN_MAKE_ALIGNED_OPERATOR_NEW
27
28			typedef _Scalar Scalar;
29			typedef MathBaseTpl<Scalar> MathBase;
30			typedef ContactModelAbstractTpl<Scalar> Base;
31			typedef ContactData2DTpl<Scalar> Data;
32			typedef StateMultibodyTpl<Scalar> StateMultibody;
33			typedef ContactDataAbstractTpl<Scalar> ContactDataAbstract;
34			typedef typename MathBase::Vector2s Vector2s;
35			typedef typename MathBase::Vector3s Vector3s;
36			typedef typename MathBase::VectorXs VectorXs;
37			typedef typename MathBase::Matrix3s Matrix3s;
38
39			/**
40			* @brief Initialize the 2d contact model
41			*
42			* @param[in] state State of the multibody system
43			* @param[in] id Reference frame id of the contact
44			* @param[in] xref Contact position used for the Baumgarte stabilization
45			* @param[in] nu Dimension of the control vector
46			* @param[in] gains Baumgarte stabilization gains
47			*/
48			ContactModel2DTpl(boost::shared_ptr<StateMultibody> state,
49			const pinocchio::FrameIndex id, const Vector2s& xref,
50			const std::size_t nu,
51			const Vector2s& gains = Vector2s::Zero());
52
53			/**
54			* @brief Initialize the 2d contact model
55			*
56			* The default `nu` is obtained from `StateAbstractTpl::get_nv()`.
57			*
58			* @param[in] state State of the multibody system
59			* @param[in] id Reference frame id of the contact
60			* @param[in] xref Contact position used for the Baumgarte stabilization
61			* @param[in] gains Baumgarte stabilization gains
62			*/
63			ContactModel2DTpl(boost::shared_ptr<StateMultibody> state,
64			const pinocchio::FrameIndex id, const Vector2s& xref,
65			const Vector2s& gains = Vector2s::Zero());
66			virtual ~ContactModel2DTpl();
67
68			/**
69			* @brief Compute the 2d contact Jacobian and drift
70			*
71			* @param[in] data 2d contact data
72			* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$
73			* @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$
74			*/
75			virtual void calc(const boost::shared_ptr<ContactDataAbstract>& data,
76			const Eigen::Ref<const VectorXs>& x);
77
78			/**
79			* @brief Compute the derivatives of the 2d contact holonomic constraint
80			*
81			* @param[in] data 2d contact data
82			* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$
83			* @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$
84			*/
85			virtual void calcDiff(const boost::shared_ptr<ContactDataAbstract>& data,
86			const Eigen::Ref<const VectorXs>& x);
87
88			/**
89			* @brief Convert the force into a stack of spatial forces
90			*
91			* @param[in] data 2d contact data
92			* @param[in] force 2d force
93			*/
94			virtual void updateForce(const boost::shared_ptr<ContactDataAbstract>& data,
95			const VectorXs& force);
96
97			/**
98			* @brief Create the 2d contact data
99			*/
100			virtual boost::shared_ptr<ContactDataAbstract> createData(
101			pinocchio::DataTpl<Scalar>* const data);
102
103			/**
104			* @brief Return the reference frame translation
105			*/
106			const Vector2s& get_reference() const;
107
108			/**
109			* @brief Create the 2d contact data
110			*/
111			const Vector2s& get_gains() const;
112
113			/**
114			* @brief Modify the reference frame translation
115			*/
116			void set_reference(const Vector2s& reference);
117
118			/**
119			* @brief Print relevant information of the 2d contact model
120			*
121			* @param[out] os Output stream object
122			*/
123			virtual void print(std::ostream& os) const;
124
125			protected:
126			using Base::id_;
127			using Base::nc_;
128			using Base::nu_;
129			using Base::state_;
130
131			private:
132			Vector2s xref_; //!< Contact position used for the Baumgarte stabilization
133			Vector2s gains_; //!< Baumgarte stabilization gains
134			};
135
136			template <typename _Scalar>
137			struct ContactData2DTpl : public ContactDataAbstractTpl<_Scalar> {
138			EIGEN_MAKE_ALIGNED_OPERATOR_NEW
139
140			typedef _Scalar Scalar;
141			typedef MathBaseTpl<Scalar> MathBase;
142			typedef ContactDataAbstractTpl<Scalar> Base;
143			typedef typename MathBase::Matrix2s Matrix2s;
144			typedef typename MathBase::Matrix3s Matrix3s;
145			typedef typename MathBase::Matrix6xs Matrix6xs;
146			typedef typename MathBase::Vector3s Vector3s;
147
148			template <template <typename Scalar> class Model>
149		6912	ContactData2DTpl(Model<Scalar>* const model,
150			pinocchio::DataTpl<Scalar>* const data)
151			: Base(model, data),
152		6912	fJf(6, model->get_state()->get_nv()),
153		6912	v_partial_dq(6, model->get_state()->get_nv()),
154		6912	a_partial_dq(6, model->get_state()->get_nv()),
155		6912	a_partial_dv(6, model->get_state()->get_nv()),
156		6912	a_partial_da(6, model->get_state()->get_nv()),
157		6912	fXjdv_dq(6, model->get_state()->get_nv()),
158		6912	fXjda_dq(6, model->get_state()->get_nv()),
159	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	55296	fXjda_dv(6, model->get_state()->get_nv()) {
160		6912	frame = model->get_id();
161	✓✗	6912	jMf = model->get_state()->get_pinocchio()->frames[frame].placement;
162	✓✗✓✗	6912	fXj = jMf.inverse().toActionMatrix();
163	✓✗	6912	fJf.setZero();
164	✓✗	6912	v_partial_dq.setZero();
165	✓✗	6912	a_partial_dq.setZero();
166	✓✗	6912	a_partial_dv.setZero();
167	✓✗	6912	a_partial_da.setZero();
168	✓✗	6912	fXjdv_dq.setZero();
169	✓✗	6912	fXjda_dq.setZero();
170	✓✗	6912	fXjda_dv.setZero();
171	✓✗	6912	vv.setZero();
172	✓✗	6912	vw.setZero();
173	✓✗	6912	vv_skew.setZero();
174	✓✗	6912	vw_skew.setZero();
175	✓✗	6912	oRf.setZero();
176		6912	}
177
178			using Base::a0;
179			using Base::da0_dx;
180			using Base::df_du;
181			using Base::df_dx;
182			using Base::f;
183			using Base::frame;
184			using Base::fXj;
185			using Base::Jc;
186			using Base::jMf;
187			using Base::pinocchio;
188
189			pinocchio::MotionTpl<Scalar> v;
190			pinocchio::MotionTpl<Scalar> a;
191			Matrix6xs fJf;
192			Matrix6xs v_partial_dq;
193			Matrix6xs a_partial_dq;
194			Matrix6xs a_partial_dv;
195			Matrix6xs a_partial_da;
196			Matrix6xs fXjdv_dq;
197			Matrix6xs fXjda_dq;
198			Matrix6xs fXjda_dv;
199			Vector3s vv;
200			Vector3s vw;
201			Matrix3s vv_skew;
202			Matrix3s vw_skew;
203			Matrix2s oRf;
204			};
205
206			} // namespace crocoddyl
207
208			/* --- Details -------------------------------------------------------------- */
209			/* --- Details -------------------------------------------------------------- */
210			/* --- Details -------------------------------------------------------------- */
211			#include "crocoddyl/multibody/contacts/contact-2d.hxx"
212
213			#endif // CROCODDYL_MULTIBODY_CONTACTS_CONTACT_2D_HPP_