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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_IMPULSES_IMPULSE_6D_HPP_ |
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#define CROCODDYL_MULTIBODY_IMPULSES_IMPULSE_6D_HPP_ |
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#include <pinocchio/multibody/data.hpp> |
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#include <pinocchio/spatial/motion.hpp> |
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#include "crocoddyl/multibody/fwd.hpp" |
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#include "crocoddyl/multibody/impulse-base.hpp" |
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namespace crocoddyl { |
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template <typename _Scalar> |
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class ImpulseModel6DTpl : public ImpulseModelAbstractTpl<_Scalar> { |
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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 ImpulseModelAbstractTpl<Scalar> Base; |
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typedef ImpulseData6DTpl<Scalar> Data; |
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typedef StateMultibodyTpl<Scalar> StateMultibody; |
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typedef ImpulseDataAbstractTpl<Scalar> ImpulseDataAbstract; |
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typedef typename MathBase::Vector2s Vector2s; |
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typedef typename MathBase::Vector3s Vector3s; |
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typedef typename MathBase::VectorXs VectorXs; |
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typedef typename MathBase::MatrixXs MatrixXs; |
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typedef typename MathBase::Matrix3s Matrix3s; |
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/** |
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* @brief Initialize the 6d impulse model |
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* |
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* @param[in] state State of the multibody system |
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* @param[in] id Reference frame id of the impulse |
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* @param[in] type Type of impulse (default LOCAL) |
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*/ |
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ImpulseModel6DTpl( |
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boost::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id, |
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const pinocchio::ReferenceFrame type = pinocchio::ReferenceFrame::LOCAL); |
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virtual ~ImpulseModel6DTpl(); |
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/** |
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* @brief Compute the 3d impulse Jacobian |
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* |
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* @param[in] data 3d impulse data |
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* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
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*/ |
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virtual void calc(const boost::shared_ptr<ImpulseDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x); |
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/** |
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* @brief Compute the derivatives of the 3d impulse holonomic constraint |
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* |
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* @param[in] data 3d impulse data |
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* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
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*/ |
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virtual void calcDiff(const boost::shared_ptr<ImpulseDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x); |
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/** |
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* @brief Convert the force into a stack of spatial forces |
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* |
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* @param[in] data 3d impulse data |
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* @param[in] force 3d impulse |
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*/ |
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virtual void updateForce(const boost::shared_ptr<ImpulseDataAbstract>& data, |
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const VectorXs& force); |
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/** |
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* @brief Create the 3d impulse data |
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*/ |
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virtual boost::shared_ptr<ImpulseDataAbstract> createData( |
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pinocchio::DataTpl<Scalar>* const data); |
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/** |
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* @brief Print relevant information of the 6d 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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using Base::id_; |
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using Base::state_; |
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using Base::type_; |
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}; |
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template <typename _Scalar> |
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struct ImpulseData6DTpl : public ImpulseDataAbstractTpl<_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 ImpulseDataAbstractTpl<Scalar> Base; |
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typedef typename MathBase::Matrix3s Matrix3s; |
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typedef typename MathBase::Matrix6xs Matrix6xs; |
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typedef typename MathBase::MatrixXs MatrixXs; |
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typedef typename pinocchio::SE3Tpl<Scalar> SE3; |
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typedef typename pinocchio::MotionTpl<Scalar> Motion; |
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typedef typename pinocchio::ForceTpl<Scalar> Force; |
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template <template <typename Scalar> class Model> |
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ImpulseData6DTpl(Model<Scalar>* const model, |
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pinocchio::DataTpl<Scalar>* const data) |
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: Base(model, data), |
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lwaMl(SE3::Identity()), |
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v0(Motion::Zero()), |
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f_local(Force::Zero()), |
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dv0_local_dq(6, model->get_state()->get_nv()), |
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fJf(6, model->get_state()->get_nv()), |
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v_partial_dq(6, model->get_state()->get_nv()), |
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v_partial_dv(6, model->get_state()->get_nv()), |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ |
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fJf_df(6, model->get_state()->get_nv()) { |
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frame = model->get_id(); |
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jMf = |
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model->get_state()->get_pinocchio()->frames[model->get_id()].placement; |
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fXj = jMf.inverse().toActionMatrix(); |
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fJf.setZero(); |
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v_partial_dq.setZero(); |
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v_partial_dv.setZero(); |
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vv_skew.setZero(); |
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vw_skew.setZero(); |
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vv_world_skew.setZero(); |
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vw_world_skew.setZero(); |
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fv_skew.setZero(); |
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fw_skew.setZero(); |
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fJf_df.setZero(); |
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} |
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using Base::df_dx; |
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using Base::dv0_dq; |
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using Base::f; |
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using Base::frame; |
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using Base::fXj; |
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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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SE3 lwaMl; |
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Motion v0; |
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Force f_local; |
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Matrix6xs dv0_local_dq; |
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Matrix6xs fJf; |
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Matrix6xs v_partial_dq; |
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Matrix6xs v_partial_dv; |
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Matrix3s vv_skew; |
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Matrix3s vw_skew; |
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Matrix3s vv_world_skew; |
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Matrix3s vw_world_skew; |
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Matrix3s fv_skew; |
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Matrix3s fw_skew; |
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MatrixXs fJf_df; |
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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/impulses/impulse-6d.hxx" |
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#endif // CROCODDYL_MULTIBODY_IMPULSES_IMPULSE_6D_HPP_ |
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