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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh, |
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// Heriot-Watt University |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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#ifndef CROCODDYL_MULTIBODY_IMPULSE_BASE_HPP_ |
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#define CROCODDYL_MULTIBODY_IMPULSE_BASE_HPP_ |
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#include "crocoddyl/core/utils/deprecate.hpp" |
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#include "crocoddyl/multibody/force-base.hpp" |
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#include "crocoddyl/multibody/fwd.hpp" |
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#include "crocoddyl/multibody/states/multibody.hpp" |
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namespace crocoddyl { |
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template <typename _Scalar> |
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class ImpulseModelAbstractTpl { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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typedef _Scalar Scalar; |
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typedef MathBaseTpl<Scalar> MathBase; |
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typedef ImpulseDataAbstractTpl<Scalar> ImpulseDataAbstract; |
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typedef StateMultibodyTpl<Scalar> StateMultibody; |
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typedef typename MathBase::VectorXs VectorXs; |
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typedef typename MathBase::MatrixXs MatrixXs; |
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ImpulseModelAbstractTpl(boost::shared_ptr<StateMultibody> state, |
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const pinocchio::ReferenceFrame type, |
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const std::size_t nc); |
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DEPRECATED( |
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"Use constructor that passes the type type of contact, this assumes is " |
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"pinocchio::LOCAL", |
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ImpulseModelAbstractTpl(boost::shared_ptr<StateMultibody> state, |
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const std::size_t nc);) |
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virtual ~ImpulseModelAbstractTpl(); |
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virtual void calc(const boost::shared_ptr<ImpulseDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x) = 0; |
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virtual void calcDiff(const boost::shared_ptr<ImpulseDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x) = 0; |
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virtual void updateForce(const boost::shared_ptr<ImpulseDataAbstract>& data, |
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const VectorXs& force) = 0; |
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void updateForceDiff(const boost::shared_ptr<ImpulseDataAbstract>& data, |
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const MatrixXs& df_dx) const; |
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void setZeroForce(const boost::shared_ptr<ImpulseDataAbstract>& data) const; |
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void setZeroForceDiff( |
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const boost::shared_ptr<ImpulseDataAbstract>& data) const; |
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virtual boost::shared_ptr<ImpulseDataAbstract> createData( |
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pinocchio::DataTpl<Scalar>* const data); |
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const boost::shared_ptr<StateMultibody>& get_state() const; |
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std::size_t get_nc() const; |
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DEPRECATED("Use get_nc().", std::size_t get_ni() const;) |
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std::size_t get_nu() const; |
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/** |
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* @brief Return the reference frame id |
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*/ |
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pinocchio::FrameIndex get_id() const; |
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/** |
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* @brief Modify the reference frame id |
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*/ |
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void set_id(const pinocchio::FrameIndex id); |
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/** |
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* @brief Modify the type of contact |
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*/ |
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void set_type(const pinocchio::ReferenceFrame type); |
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/** |
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* @brief Return the type of contact |
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*/ |
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pinocchio::ReferenceFrame get_type() const; |
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/** |
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* @brief Print information on the impulse model |
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*/ |
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template <class Scalar> |
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friend std::ostream& operator<<(std::ostream& os, |
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const ImpulseModelAbstractTpl<Scalar>& model); |
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/** |
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* @brief Print relevant information of the impulse model |
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* |
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* @param[out] os Output stream object |
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*/ |
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virtual void print(std::ostream& os) const; |
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protected: |
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boost::shared_ptr<StateMultibody> state_; |
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std::size_t nc_; |
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pinocchio::FrameIndex id_; //!< Reference frame id of the contact |
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pinocchio::ReferenceFrame type_; //!< Type of contact |
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}; |
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template <typename _Scalar> |
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struct ImpulseDataAbstractTpl : public ForceDataAbstractTpl<_Scalar> { |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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typedef _Scalar Scalar; |
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typedef MathBaseTpl<Scalar> MathBase; |
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typedef ForceDataAbstractTpl<Scalar> Base; |
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typedef typename MathBase::VectorXs VectorXs; |
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typedef typename MathBase::MatrixXs MatrixXs; |
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typedef typename pinocchio::SE3Tpl<Scalar> SE3; |
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template <template <typename Scalar> class Model> |
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ImpulseDataAbstractTpl(Model<Scalar>* const model, |
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pinocchio::DataTpl<Scalar>* const data) |
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: Base(model, data), |
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dv0_dq(model->get_nc(), model->get_state()->get_nv()), |
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✓✗✓✗
✓✗ |
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dtau_dq(model->get_state()->get_nv(), model->get_state()->get_nv()) { |
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✓✗ |
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dv0_dq.setZero(); |
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✓✗ |
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dtau_dq.setZero(); |
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} |
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virtual ~ImpulseDataAbstractTpl() {} |
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using Base::df_dx; |
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using Base::f; |
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using Base::frame; |
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using Base::Jc; |
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using Base::jMf; |
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using Base::pinocchio; |
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typename SE3::ActionMatrixType fXj; |
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MatrixXs dv0_dq; |
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MatrixXs dtau_dq; |
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}; |
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} // namespace crocoddyl |
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/* --- Details -------------------------------------------------------------- */ |
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/* --- Details -------------------------------------------------------------- */ |
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/* --- Details -------------------------------------------------------------- */ |
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#include "crocoddyl/multibody/impulse-base.hxx" |
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#endif // CROCODDYL_MULTIBODY_IMPULSE_BASE_HPP_ |