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GCC Code Coverage Report

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File:	include/crocoddyl/multibody/impulses/impulse-3d.hpp	Lines:	20	22	90.9 %
Date:	2024-02-13 11:12:33	Branches:	22	44	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_IMPULSES_IMPULSE_3D_HPP_
#define CROCODDYL_MULTIBODY_IMPULSES_IMPULSE_3D_HPP_

#include <pinocchio/multibody/data.hpp>
#include <pinocchio/spatial/motion.hpp>

#include "crocoddyl/multibody/fwd.hpp"
#include "crocoddyl/multibody/impulse-base.hpp"

namespace crocoddyl {

template <typename _Scalar>
class ImpulseModel3DTpl : public ImpulseModelAbstractTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ImpulseModelAbstractTpl<Scalar> Base;
  typedef ImpulseData3DTpl<Scalar> Data;
  typedef StateMultibodyTpl<Scalar> StateMultibody;
  typedef ImpulseDataAbstractTpl<Scalar> ImpulseDataAbstract;
  typedef typename MathBase::Vector2s Vector2s;
  typedef typename MathBase::Vector3s Vector3s;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs Matrix3s;
  typedef typename MathBase::MatrixXs MatrixXs;

  /**
   * @brief Initialize the 3d impulse model
   *
   * @param[in] state  State of the multibody system
   * @param[in] id     Reference frame id of the impulse
   * @param[in] type   Type of impulse (default LOCAL)
   */
  ImpulseModel3DTpl(
      boost::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id,
      const pinocchio::ReferenceFrame type = pinocchio::ReferenceFrame::LOCAL);
  virtual ~ImpulseModel3DTpl();

  /**
   * @brief Compute the 6d impulse Jacobian
   *
   * @param[in] data  6d impulse data
   * @param[in] x     State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$
   */
  virtual void calc(const boost::shared_ptr<ImpulseDataAbstract>& data,
                    const Eigen::Ref<const VectorXs>& x);

  /**
   * @brief Compute the derivatives of the 6d impulse holonomic constraint
   *
   * @param[in] data  6d impulse data
   * @param[in] x     State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$
   */
  virtual void calcDiff(const boost::shared_ptr<ImpulseDataAbstract>& data,
                        const Eigen::Ref<const VectorXs>& x);

  /**
   * @brief Convert the force into a stack of spatial forces
   *
   * @param[in] data   6d impulse data
   * @param[in] force  6d impulse
   */
  virtual void updateForce(const boost::shared_ptr<ImpulseDataAbstract>& data,
                           const VectorXs& force);

  /**
   * @brief Create the 6d impulse data
   */
  virtual boost::shared_ptr<ImpulseDataAbstract> createData(
      pinocchio::DataTpl<Scalar>* const data);

  /**
   * @brief Print relevant information of the 3d impulse model
   *
   * @param[out] os  Output stream object
   */
  virtual void print(std::ostream& os) const;

 protected:
  using Base::id_;
  using Base::state_;
  using Base::type_;
};

template <typename _Scalar>
struct ImpulseData3DTpl : public ImpulseDataAbstractTpl<_Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ImpulseDataAbstractTpl<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::ForceTpl<Scalar> Force;

  template <template <typename Scalar> class Model>
  ImpulseData3DTpl(Model<Scalar>* const model,
                   pinocchio::DataTpl<Scalar>* const data)
      : Base(model, data),
        f_local(Force::Zero()),
        dv0_local_dq(3, model->get_state()->get_nv()),
        fJf(6, model->get_state()->get_nv()),
        v_partial_dq(6, model->get_state()->get_nv()),
        v_partial_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[model->get_id()].placement;
    fXj = jMf.inverse().toActionMatrix();
    v0.setZero();
    dv0_local_dq.setZero();
    fJf.setZero();
    v_partial_dq.setZero();
    v_partial_dv.setZero();
    v0_skew.setZero();
    v0_world_skew.setZero();
    f_skew.setZero();
    fJf_df.setZero();
  }

  using Base::df_dx;
  using Base::dv0_dq;
  using Base::f;
  using Base::frame;
  using Base::fXj;
  using Base::Jc;
  using Base::jMf;
  using Base::pinocchio;

  Vector3s v0;
  Force f_local;
  Matrix3xs dv0_local_dq;
  Matrix6xs fJf;
  Matrix6xs v_partial_dq;
  Matrix6xs v_partial_dv;
  Matrix3s v0_skew;
  Matrix3s v0_world_skew;
  Matrix3s f_skew;
  Matrix3xs fJf_df;
};

}  // namespace crocoddyl

/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/multibody/impulses/impulse-3d.hxx"

#endif  // CROCODDYL_MULTIBODY_IMPULSES_IMPULSE_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 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_IMPULSES_IMPULSE_3D_HPP_
11			#define CROCODDYL_MULTIBODY_IMPULSES_IMPULSE_3D_HPP_
12
13			#include <pinocchio/multibody/data.hpp>
14			#include <pinocchio/spatial/motion.hpp>
15
16			#include "crocoddyl/multibody/fwd.hpp"
17			#include "crocoddyl/multibody/impulse-base.hpp"
18
19			namespace crocoddyl {
20
21			template <typename _Scalar>
22			class ImpulseModel3DTpl : public ImpulseModelAbstractTpl<_Scalar> {
23			public:
24			EIGEN_MAKE_ALIGNED_OPERATOR_NEW
25
26			typedef _Scalar Scalar;
27			typedef MathBaseTpl<Scalar> MathBase;
28			typedef ImpulseModelAbstractTpl<Scalar> Base;
29			typedef ImpulseData3DTpl<Scalar> Data;
30			typedef StateMultibodyTpl<Scalar> StateMultibody;
31			typedef ImpulseDataAbstractTpl<Scalar> ImpulseDataAbstract;
32			typedef typename MathBase::Vector2s Vector2s;
33			typedef typename MathBase::Vector3s Vector3s;
34			typedef typename MathBase::VectorXs VectorXs;
35			typedef typename MathBase::MatrixXs Matrix3s;
36			typedef typename MathBase::MatrixXs MatrixXs;
37
38			/**
39			* @brief Initialize the 3d impulse model
40			*
41			* @param[in] state State of the multibody system
42			* @param[in] id Reference frame id of the impulse
43			* @param[in] type Type of impulse (default LOCAL)
44			*/
45			ImpulseModel3DTpl(
46			boost::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id,
47			const pinocchio::ReferenceFrame type = pinocchio::ReferenceFrame::LOCAL);
48			virtual ~ImpulseModel3DTpl();
49
50			/**
51			* @brief Compute the 6d impulse Jacobian
52			*
53			* @param[in] data 6d impulse data
54			* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$
55			*/
56			virtual void calc(const boost::shared_ptr<ImpulseDataAbstract>& data,
57			const Eigen::Ref<const VectorXs>& x);
58
59			/**
60			* @brief Compute the derivatives of the 6d impulse holonomic constraint
61			*
62			* @param[in] data 6d impulse data
63			* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$
64			*/
65			virtual void calcDiff(const boost::shared_ptr<ImpulseDataAbstract>& data,
66			const Eigen::Ref<const VectorXs>& x);
67
68			/**
69			* @brief Convert the force into a stack of spatial forces
70			*
71			* @param[in] data 6d impulse data
72			* @param[in] force 6d impulse
73			*/
74			virtual void updateForce(const boost::shared_ptr<ImpulseDataAbstract>& data,
75			const VectorXs& force);
76
77			/**
78			* @brief Create the 6d impulse data
79			*/
80			virtual boost::shared_ptr<ImpulseDataAbstract> createData(
81			pinocchio::DataTpl<Scalar>* const data);
82
83			/**
84			* @brief Print relevant information of the 3d impulse model
85			*
86			* @param[out] os Output stream object
87			*/
88			virtual void print(std::ostream& os) const;
89
90			protected:
91			using Base::id_;
92			using Base::state_;
93			using Base::type_;
94			};
95
96			template <typename _Scalar>
97			struct ImpulseData3DTpl : public ImpulseDataAbstractTpl<_Scalar> {
98			EIGEN_MAKE_ALIGNED_OPERATOR_NEW
99
100			typedef _Scalar Scalar;
101			typedef MathBaseTpl<Scalar> MathBase;
102			typedef ImpulseDataAbstractTpl<Scalar> Base;
103			typedef typename MathBase::Vector3s Vector3s;
104			typedef typename MathBase::Matrix3s Matrix3s;
105			typedef typename MathBase::Matrix3xs Matrix3xs;
106			typedef typename MathBase::Matrix6xs Matrix6xs;
107			typedef typename pinocchio::ForceTpl<Scalar> Force;
108
109			template <template <typename Scalar> class Model>
110		3500	ImpulseData3DTpl(Model<Scalar>* const model,
111			pinocchio::DataTpl<Scalar>* const data)
112			: Base(model, data),
113			f_local(Force::Zero()),
114		3500	dv0_local_dq(3, model->get_state()->get_nv()),
115		3500	fJf(6, model->get_state()->get_nv()),
116		3500	v_partial_dq(6, model->get_state()->get_nv()),
117		3500	v_partial_dv(6, model->get_state()->get_nv()),
118	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗	17500	fJf_df(3, model->get_state()->get_nv()) {
119		3500	frame = model->get_id();
120		3500	jMf =
121	✓✗	3500	model->get_state()->get_pinocchio()->frames[model->get_id()].placement;
122	✓✗✓✗	3500	fXj = jMf.inverse().toActionMatrix();
123	✓✗	3500	v0.setZero();
124	✓✗	3500	dv0_local_dq.setZero();
125	✓✗	3500	fJf.setZero();
126	✓✗	3500	v_partial_dq.setZero();
127	✓✗	3500	v_partial_dv.setZero();
128	✓✗	3500	v0_skew.setZero();
129	✓✗	3500	v0_world_skew.setZero();
130	✓✗	3500	f_skew.setZero();
131	✓✗	3500	fJf_df.setZero();
132		3500	}
133
134			using Base::df_dx;
135			using Base::dv0_dq;
136			using Base::f;
137			using Base::frame;
138			using Base::fXj;
139			using Base::Jc;
140			using Base::jMf;
141			using Base::pinocchio;
142
143			Vector3s v0;
144			Force f_local;
145			Matrix3xs dv0_local_dq;
146			Matrix6xs fJf;
147			Matrix6xs v_partial_dq;
148			Matrix6xs v_partial_dv;
149			Matrix3s v0_skew;
150			Matrix3s v0_world_skew;
151			Matrix3s f_skew;
152			Matrix3xs fJf_df;
153			};
154
155			} // namespace crocoddyl
156
157			/* --- Details -------------------------------------------------------------- */
158			/* --- Details -------------------------------------------------------------- */
159			/* --- Details -------------------------------------------------------------- */
160			#include "crocoddyl/multibody/impulses/impulse-3d.hxx"
161
162			#endif // CROCODDYL_MULTIBODY_IMPULSES_IMPULSE_3D_HPP_