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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	include/crocoddyl/multibody/contacts/contact-3d.hpp	Lines:	34	36	94.4 %
Date:	2024-02-13 11:12:33	Branches:	43	86	50.0 %


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

#ifndef CROCODDYL_MULTIBODY_CONTACTS_CONTACT_3D_HPP_
#define CROCODDYL_MULTIBODY_CONTACTS_CONTACT_3D_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/deprecate.hpp"
#include "crocoddyl/core/utils/exception.hpp"
#include "crocoddyl/multibody/contact-base.hpp"
#include "crocoddyl/multibody/fwd.hpp"

namespace crocoddyl {

template <typename _Scalar>
class ContactModel3DTpl : public ContactModelAbstractTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ContactModelAbstractTpl<Scalar> Base;
  typedef ContactData3DTpl<Scalar> Data;
  typedef StateMultibodyTpl<Scalar> StateMultibody;
  typedef ContactDataAbstractTpl<Scalar> ContactDataAbstract;
  typedef typename MathBase::Matrix3s Matrix3s;
  typedef typename MathBase::Vector2s Vector2s;
  typedef typename MathBase::Vector3s Vector3s;
  typedef typename MathBase::VectorXs VectorXs;

  /**
   * @brief Initialize the 3d contact model
   *
   * To learn more about the computation of the contact derivatives in different
   * frames see
   *  S. Kleff et. al, On the Derivation of the Contact Dynamics in Arbitrary
   *  Frames: Application to Polishing with Talos, ICHR 2022
   *
   * @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] type   Type of contact
   * @param[in] nu     Dimension of the control vector
   * @param[in] gains  Baumgarte stabilization gains
   */
  ContactModel3DTpl(boost::shared_ptr<StateMultibody> state,
                    const pinocchio::FrameIndex id, const Vector3s& xref,
                    const pinocchio::ReferenceFrame type, const std::size_t nu,
                    const Vector2s& gains = Vector2s::Zero());

  /**
   * @brief Initialize the 3d contact model
   *
   * The default `nu` is obtained from `StateAbstractTpl::get_nv()`. To learn
   * more about the computation of the contact derivatives in different frames
   * see
   *  S. Kleff et. al, On the Derivation of the Contact Dynamics in Arbitrary
   *  Frames: Application to Polishing with Talos, ICHR 2022
   *
   * @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] type   Type of contact
   * @param[in] gains  Baumgarte stabilization gains
   */
  ContactModel3DTpl(boost::shared_ptr<StateMultibody> state,
                    const pinocchio::FrameIndex id, const Vector3s& xref,
                    const pinocchio::ReferenceFrame type,
                    const Vector2s& gains = Vector2s::Zero());

  DEPRECATED(
      "Use constructor that passes the type type of contact, this assumes is "
      "pinocchio::LOCAL",
      ContactModel3DTpl(boost::shared_ptr<StateMultibody> state,
                        const pinocchio::FrameIndex id, const Vector3s& xref,
                        const std::size_t nu,
                        const Vector2s& gains = Vector2s::Zero());)
  DEPRECATED(
      "Use constructor that passes the type type of contact, this assumes is "
      "pinocchio::LOCAL",
      ContactModel3DTpl(boost::shared_ptr<StateMultibody> state,
                        const pinocchio::FrameIndex id, const Vector3s& xref,
                        const Vector2s& gains = Vector2s::Zero());)
  virtual ~ContactModel3DTpl();

  /**
   * @brief Compute the 3d contact Jacobian and drift
   *
   * @param[in] data  3d 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 3d contact holonomic constraint
   *
   * @param[in] data  3d 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   3d contact data
   * @param[in] force  3d force
   */
  virtual void updateForce(const boost::shared_ptr<ContactDataAbstract>& data,
                           const VectorXs& force);

  /**
   * @brief Create the 3d contact data
   */
  virtual boost::shared_ptr<ContactDataAbstract> createData(
      pinocchio::DataTpl<Scalar>* const data);

  /**
   * @brief Return the reference frame translation
   */
  const Vector3s& get_reference() const;

  /**
   * @brief Return the Baumgarte stabilization gains
   */
  const Vector2s& get_gains() const;

  /**
   * @brief Modify the reference frame translation
   */
  void set_reference(const Vector3s& reference);

  /**
   * @brief Print relevant information of the 3d 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_;
  using Base::type_;

 private:
  Vector3s xref_;   //!< Contact position used for the Baumgarte stabilization
  Vector2s gains_;  //!< Baumgarte stabilization gains
};

template <typename _Scalar>
struct ContactData3DTpl : public ContactDataAbstractTpl<_Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ContactDataAbstractTpl<Scalar> Base;
  typedef typename MathBase::Vector3s Vector3s;
  typedef typename MathBase::Matrix3s Matrix3s;
  typedef typename MathBase::Matrix3xs Matrix3xs;
  typedef typename MathBase::Matrix6xs Matrix6xs;
  typedef typename pinocchio::MotionTpl<Scalar> Motion;
  typedef typename pinocchio::ForceTpl<Scalar> Force;

  template <template <typename Scalar> class Model>
  ContactData3DTpl(Model<Scalar>* const model,
                   pinocchio::DataTpl<Scalar>* const data)
      : Base(model, data),
        v(Motion::Zero()),
        f_local(Force::Zero()),
        da0_local_dx(3, model->get_state()->get_ndx()),
        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()),
        fJf_df(3, model->get_state()->get_nv()) {
    frame = model->get_id();
    jMf = model->get_state()->get_pinocchio()->frames[frame].placement;
    fXj = jMf.inverse().toActionMatrix();
    a0_local.setZero();
    dp.setZero();
    dp_local.setZero();
    da0_local_dx.setZero();
    fJf.setZero();
    v_partial_dq.setZero();
    a_partial_dq.setZero();
    a_partial_dv.setZero();
    a_partial_da.setZero();
    vv_skew.setZero();
    vw_skew.setZero();
    a0_skew.setZero();
    a0_world_skew.setZero();
    dp_skew.setZero();
    f_skew.setZero();
    fXjdv_dq.setZero();
    fXjda_dq.setZero();
    fXjda_dv.setZero();
    fJf_df.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;

  Motion v;
  Vector3s a0_local;
  Vector3s dp;
  Vector3s dp_local;
  Force f_local;
  Matrix3xs da0_local_dx;
  Matrix6xs fJf;
  Matrix6xs v_partial_dq;
  Matrix6xs a_partial_dq;
  Matrix6xs a_partial_dv;
  Matrix6xs a_partial_da;
  Matrix3s vv_skew;
  Matrix3s vw_skew;
  Matrix3s a0_skew;
  Matrix3s a0_world_skew;
  Matrix3s dp_skew;
  Matrix3s f_skew;
  Matrix6xs fXjdv_dq;
  Matrix6xs fXjda_dq;
  Matrix6xs fXjda_dv;
  Matrix3xs fJf_df;
};

}  // namespace crocoddyl

/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/multibody/contacts/contact-3d.hxx"

#endif  // CROCODDYL_MULTIBODY_CONTACTS_CONTACT_3D_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 f_world 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_CONTACTS_CONTACT_3D_HPP_
11			#define CROCODDYL_MULTIBODY_CONTACTS_CONTACT_3D_HPP_
12
13			#include <pinocchio/algorithm/frames.hpp>
14			#include <pinocchio/algorithm/kinematics-derivatives.hpp>
15			#include <pinocchio/multibody/data.hpp>
16			#include <pinocchio/spatial/motion.hpp>
17
18			#include "crocoddyl/core/utils/deprecate.hpp"
19			#include "crocoddyl/core/utils/exception.hpp"
20			#include "crocoddyl/multibody/contact-base.hpp"
21			#include "crocoddyl/multibody/fwd.hpp"
22
23			namespace crocoddyl {
24
25			template <typename _Scalar>
26			class ContactModel3DTpl : public ContactModelAbstractTpl<_Scalar> {
27			public:
28			EIGEN_MAKE_ALIGNED_OPERATOR_NEW
29
30			typedef _Scalar Scalar;
31			typedef MathBaseTpl<Scalar> MathBase;
32			typedef ContactModelAbstractTpl<Scalar> Base;
33			typedef ContactData3DTpl<Scalar> Data;
34			typedef StateMultibodyTpl<Scalar> StateMultibody;
35			typedef ContactDataAbstractTpl<Scalar> ContactDataAbstract;
36			typedef typename MathBase::Matrix3s Matrix3s;
37			typedef typename MathBase::Vector2s Vector2s;
38			typedef typename MathBase::Vector3s Vector3s;
39			typedef typename MathBase::VectorXs VectorXs;
40
41			/**
42			* @brief Initialize the 3d contact model
43			*
44			* To learn more about the computation of the contact derivatives in different
45			* frames see
46			* S. Kleff et. al, On the Derivation of the Contact Dynamics in Arbitrary
47			* Frames: Application to Polishing with Talos, ICHR 2022
48			*
49			* @param[in] state State of the multibody system
50			* @param[in] id Reference frame id of the contact
51			* @param[in] xref Contact position used for the Baumgarte stabilization
52			* @param[in] type Type of contact
53			* @param[in] nu Dimension of the control vector
54			* @param[in] gains Baumgarte stabilization gains
55			*/
56			ContactModel3DTpl(boost::shared_ptr<StateMultibody> state,
57			const pinocchio::FrameIndex id, const Vector3s& xref,
58			const pinocchio::ReferenceFrame type, const std::size_t nu,
59			const Vector2s& gains = Vector2s::Zero());
60
61			/**
62			* @brief Initialize the 3d contact model
63			*
64			* The default `nu` is obtained from `StateAbstractTpl::get_nv()`. To learn
65			* more about the computation of the contact derivatives in different frames
66			* see
67			* S. Kleff et. al, On the Derivation of the Contact Dynamics in Arbitrary
68			* Frames: Application to Polishing with Talos, ICHR 2022
69			*
70			* @param[in] state State of the multibody system
71			* @param[in] id Reference frame id of the contact
72			* @param[in] xref Contact position used for the Baumgarte stabilization
73			* @param[in] type Type of contact
74			* @param[in] gains Baumgarte stabilization gains
75			*/
76			ContactModel3DTpl(boost::shared_ptr<StateMultibody> state,
77			const pinocchio::FrameIndex id, const Vector3s& xref,
78			const pinocchio::ReferenceFrame type,
79			const Vector2s& gains = Vector2s::Zero());
80
81			DEPRECATED(
82			"Use constructor that passes the type type of contact, this assumes is "
83			"pinocchio::LOCAL",
84			ContactModel3DTpl(boost::shared_ptr<StateMultibody> state,
85			const pinocchio::FrameIndex id, const Vector3s& xref,
86			const std::size_t nu,
87			const Vector2s& gains = Vector2s::Zero());)
88			DEPRECATED(
89			"Use constructor that passes the type type of contact, this assumes is "
90			"pinocchio::LOCAL",
91			ContactModel3DTpl(boost::shared_ptr<StateMultibody> state,
92			const pinocchio::FrameIndex id, const Vector3s& xref,
93			const Vector2s& gains = Vector2s::Zero());)
94			virtual ~ContactModel3DTpl();
95
96			/**
97			* @brief Compute the 3d contact Jacobian and drift
98			*
99			* @param[in] data 3d contact data
100			* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$
101			* @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$
102			*/
103			virtual void calc(const boost::shared_ptr<ContactDataAbstract>& data,
104			const Eigen::Ref<const VectorXs>& x);
105
106			/**
107			* @brief Compute the derivatives of the 3d contact holonomic constraint
108			*
109			* @param[in] data 3d contact data
110			* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$
111			* @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$
112			*/
113			virtual void calcDiff(const boost::shared_ptr<ContactDataAbstract>& data,
114			const Eigen::Ref<const VectorXs>& x);
115
116			/**
117			* @brief Convert the force into a stack of spatial forces
118			*
119			* @param[in] data 3d contact data
120			* @param[in] force 3d force
121			*/
122			virtual void updateForce(const boost::shared_ptr<ContactDataAbstract>& data,
123			const VectorXs& force);
124
125			/**
126			* @brief Create the 3d contact data
127			*/
128			virtual boost::shared_ptr<ContactDataAbstract> createData(
129			pinocchio::DataTpl<Scalar>* const data);
130
131			/**
132			* @brief Return the reference frame translation
133			*/
134			const Vector3s& get_reference() const;
135
136			/**
137			* @brief Return the Baumgarte stabilization gains
138			*/
139			const Vector2s& get_gains() const;
140
141			/**
142			* @brief Modify the reference frame translation
143			*/
144			void set_reference(const Vector3s& reference);
145
146			/**
147			* @brief Print relevant information of the 3d contact model
148			*
149			* @param[out] os Output stream object
150			*/
151			virtual void print(std::ostream& os) const;
152
153			protected:
154			using Base::id_;
155			using Base::nc_;
156			using Base::nu_;
157			using Base::state_;
158			using Base::type_;
159
160			private:
161			Vector3s xref_; //!< Contact position used for the Baumgarte stabilization
162			Vector2s gains_; //!< Baumgarte stabilization gains
163			};
164
165			template <typename _Scalar>
166			struct ContactData3DTpl : public ContactDataAbstractTpl<_Scalar> {
167			EIGEN_MAKE_ALIGNED_OPERATOR_NEW
168
169			typedef _Scalar Scalar;
170			typedef MathBaseTpl<Scalar> MathBase;
171			typedef ContactDataAbstractTpl<Scalar> Base;
172			typedef typename MathBase::Vector3s Vector3s;
173			typedef typename MathBase::Matrix3s Matrix3s;
174			typedef typename MathBase::Matrix3xs Matrix3xs;
175			typedef typename MathBase::Matrix6xs Matrix6xs;
176			typedef typename pinocchio::MotionTpl<Scalar> Motion;
177			typedef typename pinocchio::ForceTpl<Scalar> Force;
178
179			template <template <typename Scalar> class Model>
180		92587	ContactData3DTpl(Model<Scalar>* const model,
181			pinocchio::DataTpl<Scalar>* const data)
182			: Base(model, data),
183			v(Motion::Zero()),
184			f_local(Force::Zero()),
185		92587	da0_local_dx(3, model->get_state()->get_ndx()),
186		92587	fJf(6, model->get_state()->get_nv()),
187		92587	v_partial_dq(6, model->get_state()->get_nv()),
188		92587	a_partial_dq(6, model->get_state()->get_nv()),
189		92587	a_partial_dv(6, model->get_state()->get_nv()),
190		92587	a_partial_da(6, model->get_state()->get_nv()),
191		92587	fXjdv_dq(6, model->get_state()->get_nv()),
192		92587	fXjda_dq(6, model->get_state()->get_nv()),
193		92587	fXjda_dv(6, model->get_state()->get_nv()),
194	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	925870	fJf_df(3, model->get_state()->get_nv()) {
195		92587	frame = model->get_id();
196	✓✗	92587	jMf = model->get_state()->get_pinocchio()->frames[frame].placement;
197	✓✗✓✗	92587	fXj = jMf.inverse().toActionMatrix();
198	✓✗	92587	a0_local.setZero();
199	✓✗	92587	dp.setZero();
200	✓✗	92587	dp_local.setZero();
201	✓✗	92587	da0_local_dx.setZero();
202	✓✗	92587	fJf.setZero();
203	✓✗	92587	v_partial_dq.setZero();
204	✓✗	92587	a_partial_dq.setZero();
205	✓✗	92587	a_partial_dv.setZero();
206	✓✗	92587	a_partial_da.setZero();
207	✓✗	92587	vv_skew.setZero();
208	✓✗	92587	vw_skew.setZero();
209	✓✗	92587	a0_skew.setZero();
210	✓✗	92587	a0_world_skew.setZero();
211	✓✗	92587	dp_skew.setZero();
212	✓✗	92587	f_skew.setZero();
213	✓✗	92587	fXjdv_dq.setZero();
214	✓✗	92587	fXjda_dq.setZero();
215	✓✗	92587	fXjda_dv.setZero();
216	✓✗	92587	fJf_df.setZero();
217		92587	}
218
219			using Base::a0;
220			using Base::da0_dx;
221			using Base::df_du;
222			using Base::df_dx;
223			using Base::f;
224			using Base::frame;
225			using Base::fXj;
226			using Base::Jc;
227			using Base::jMf;
228			using Base::pinocchio;
229
230			Motion v;
231			Vector3s a0_local;
232			Vector3s dp;
233			Vector3s dp_local;
234			Force f_local;
235			Matrix3xs da0_local_dx;
236			Matrix6xs fJf;
237			Matrix6xs v_partial_dq;
238			Matrix6xs a_partial_dq;
239			Matrix6xs a_partial_dv;
240			Matrix6xs a_partial_da;
241			Matrix3s vv_skew;
242			Matrix3s vw_skew;
243			Matrix3s a0_skew;
244			Matrix3s a0_world_skew;
245			Matrix3s dp_skew;
246			Matrix3s f_skew;
247			Matrix6xs fXjdv_dq;
248			Matrix6xs fXjda_dq;
249			Matrix6xs fXjda_dv;
250			Matrix3xs fJf_df;
251			};
252
253			} // namespace crocoddyl
254
255			/* --- Details -------------------------------------------------------------- */
256			/* --- Details -------------------------------------------------------------- */
257			/* --- Details -------------------------------------------------------------- */
258			#include "crocoddyl/multibody/contacts/contact-3d.hxx"
259
260			#endif // CROCODDYL_MULTIBODY_CONTACTS_CONTACT_3D_HPP_