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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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#include "crocoddyl/multibody/residuals/contact-force.hpp" |
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namespace crocoddyl { |
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template <typename Scalar> |
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ResidualModelContactForceTpl<Scalar>::ResidualModelContactForceTpl( |
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boost::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id, |
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const Force& fref, const std::size_t nc, const std::size_t nu, |
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const bool fwddyn) |
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: Base(state, nc, nu, fwddyn ? true : false, fwddyn ? true : false, true), |
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fwddyn_(fwddyn), |
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update_jacobians_(true), |
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id_(id), |
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✓✓✓✓
✓✗✓✗
|
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fref_(fref) { |
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✗✓ |
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if (nc > 6) { |
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throw_pretty( |
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"Invalid argument in ResidualModelContactForce: nc should be less than " |
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"6"); |
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} |
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✗✓ |
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if (static_cast<pinocchio::FrameIndex>(state->get_pinocchio()->nframes) <= |
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id) { |
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throw_pretty( |
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"Invalid argument: " |
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<< "the frame index is wrong (it does not exist in the robot)"); |
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} |
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} |
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template <typename Scalar> |
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ResidualModelContactForceTpl<Scalar>::ResidualModelContactForceTpl( |
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boost::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id, |
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const Force& fref, const std::size_t nc) |
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: Base(state, nc), |
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fwddyn_(true), |
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update_jacobians_(true), |
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id_(id), |
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✓✗✓✗
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fref_(fref) { |
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✗✓ |
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if (nc > 6) { |
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throw_pretty( |
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"Invalid argument in ResidualModelContactForce: nc should be less than " |
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"6"); |
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} |
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✗✓ |
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if (static_cast<pinocchio::FrameIndex>(state->get_pinocchio()->nframes) <= |
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id) { |
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throw_pretty( |
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"Invalid argument: " |
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<< "the frame index is wrong (it does not exist in the robot)"); |
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} |
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} |
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template <typename Scalar> |
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ResidualModelContactForceTpl<Scalar>::~ResidualModelContactForceTpl() {} |
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template <typename Scalar> |
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void ResidualModelContactForceTpl<Scalar>::calc( |
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const boost::shared_ptr<ResidualDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) { |
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Data* d = static_cast<Data*>(data.get()); |
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// We transform the force to the contact frame |
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✗✓✓✗
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switch (d->contact_type) { |
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case Contact1D: |
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data->r = ((d->contact->f - fref_).linear()).row(2); |
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break; |
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case Contact3D: |
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✓✗✓✗
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data->r = (d->contact->f - fref_).linear(); |
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break; |
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case Contact6D: |
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✓✗✓✗
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data->r = (d->contact->f - fref_).toVector(); |
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break; |
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default: |
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break; |
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} |
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} |
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template <typename Scalar> |
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void ResidualModelContactForceTpl<Scalar>::calc( |
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const boost::shared_ptr<ResidualDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>&) { |
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data->r.setZero(); |
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} |
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template <typename Scalar> |
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void ResidualModelContactForceTpl<Scalar>::calcDiff( |
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const boost::shared_ptr<ResidualDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) { |
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✓✓✗✓
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if (fwddyn_ || update_jacobians_) { |
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updateJacobians(data); |
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} |
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} |
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template <typename Scalar> |
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void ResidualModelContactForceTpl<Scalar>::calcDiff( |
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const boost::shared_ptr<ResidualDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>&) { |
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data->Rx.setZero(); |
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} |
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template <typename Scalar> |
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boost::shared_ptr<ResidualDataAbstractTpl<Scalar> > |
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ResidualModelContactForceTpl<Scalar>::createData( |
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DataCollectorAbstract* const data) { |
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✓✗ |
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boost::shared_ptr<ResidualDataAbstract> d = boost::allocate_shared<Data>( |
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Eigen::aligned_allocator<Data>(), this, data); |
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✓✓ |
161402 |
if (!fwddyn_) { |
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✓✗ |
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updateJacobians(d); |
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} |
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return d; |
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} |
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template <typename Scalar> |
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void ResidualModelContactForceTpl<Scalar>::updateJacobians( |
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const boost::shared_ptr<ResidualDataAbstract>& data) { |
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Data* d = static_cast<Data*>(data.get()); |
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const MatrixXs& df_dx = d->contact->df_dx; |
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const MatrixXs& df_du = d->contact->df_du; |
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✗✓✓✗
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switch (d->contact_type) { |
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case Contact1D: |
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data->Rx = df_dx.template topRows<1>(); |
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data->Ru = df_du.template topRows<1>(); |
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break; |
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case Contact3D: |
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✓✗ |
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data->Rx = df_dx.template topRows<3>(); |
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✓✗ |
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data->Ru = df_du.template topRows<3>(); |
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break; |
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case Contact6D: |
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data->Rx = df_dx; |
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data->Ru = df_du; |
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break; |
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default: |
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break; |
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} |
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update_jacobians_ = false; |
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} |
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template <typename Scalar> |
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void ResidualModelContactForceTpl<Scalar>::print(std::ostream& os) const { |
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boost::shared_ptr<StateMultibody> s = |
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boost::static_pointer_cast<StateMultibody>(state_); |
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const Eigen::IOFormat fmt(2, Eigen::DontAlignCols, ", ", ";\n", "", "", "[", |
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"]"); |
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os << "ResidualModelContactForce {frame=" |
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<< s->get_pinocchio()->frames[id_].name |
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<< ", fref=" << fref_.toVector().head(nr_).transpose().format(fmt) << "}"; |
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} |
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template <typename Scalar> |
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bool ResidualModelContactForceTpl<Scalar>::is_fwddyn() const { |
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return fwddyn_; |
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} |
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template <typename Scalar> |
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pinocchio::FrameIndex ResidualModelContactForceTpl<Scalar>::get_id() const { |
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return id_; |
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} |
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template <typename Scalar> |
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const pinocchio::ForceTpl<Scalar>& |
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ResidualModelContactForceTpl<Scalar>::get_reference() const { |
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return fref_; |
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} |
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template <typename Scalar> |
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void ResidualModelContactForceTpl<Scalar>::set_id( |
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const pinocchio::FrameIndex id) { |
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id_ = id; |
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} |
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template <typename Scalar> |
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void ResidualModelContactForceTpl<Scalar>::set_reference( |
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const Force& reference) { |
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fref_ = reference; |
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update_jacobians_ = true; |
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} |
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} // namespace crocoddyl |