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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2024, 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_RESIDUALS_CONTACT_FRICTION_CONE_HPP_ |
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#define CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_FRICTION_CONE_HPP_ |
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#include "crocoddyl/core/residual-base.hpp" |
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#include "crocoddyl/core/utils/exception.hpp" |
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#include "crocoddyl/multibody/contact-base.hpp" |
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#include "crocoddyl/multibody/contacts/contact-2d.hpp" |
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#include "crocoddyl/multibody/contacts/contact-3d.hpp" |
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#include "crocoddyl/multibody/contacts/contact-6d.hpp" |
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#include "crocoddyl/multibody/contacts/multiple-contacts.hpp" |
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#include "crocoddyl/multibody/data/contacts.hpp" |
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#include "crocoddyl/multibody/data/impulses.hpp" |
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#include "crocoddyl/multibody/friction-cone.hpp" |
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#include "crocoddyl/multibody/fwd.hpp" |
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#include "crocoddyl/multibody/impulse-base.hpp" |
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#include "crocoddyl/multibody/impulses/impulse-3d.hpp" |
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#include "crocoddyl/multibody/impulses/impulse-6d.hpp" |
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#include "crocoddyl/multibody/impulses/multiple-impulses.hpp" |
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#include "crocoddyl/multibody/states/multibody.hpp" |
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namespace crocoddyl { |
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/** |
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* @brief Contact friction cone residual |
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* |
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* This residual function is defined as |
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* \f$\mathbf{r}=\mathbf{A}\boldsymbol{\lambda}\f$, where |
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* \f$\mathbf{A}\in~\mathbb{R}^{nr\times nc}\f$ describes the linearized |
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* friction cone, \f$\boldsymbol{\lambda}\in~\mathbb{R}^{nc}\f$ is the spatial |
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* contact forces computed by `DifferentialActionModelContactFwdDynamicsTpl`, |
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* and `nr`, `nc` are the number of cone facets and dimension of the contact, |
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* respectively. |
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* |
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* Both residual and residual Jacobians are computed analytically, where th |
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* force vector \f$\boldsymbol{\lambda}\f$ and its Jacobians |
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* \f$\left(\frac{\partial\boldsymbol{\lambda}}{\partial\mathbf{x}}, |
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* \frac{\partial\boldsymbol{\lambda}}{\partial\mathbf{u}}\right)\f$ are |
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* computed by `DifferentialActionModelContactFwdDynamicsTpl` or |
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* `ActionModelImpulseFwdDynamicTpl`. These values are stored in a shared data |
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* (i.e. `DataCollectorContactTpl` or `DataCollectorImpulseTpl`). Note that |
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* this residual function cannot be used with other action models. |
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* |
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* As described in `ResidualModelAbstractTpl()`, the residual value and its |
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* derivatives are calculated by `calc` and `calcDiff`, respectively. |
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* |
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* \sa `ResidualModelAbstractTpl`, `calc()`, `calcDiff()`, `createData()`, |
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* `DifferentialActionModelContactFwdDynamicsTpl`, |
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* `ActionModelImpulseFwdDynamicTpl`, `DataCollectorForceTpl` |
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*/ |
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template <typename _Scalar> |
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class ResidualModelContactFrictionConeTpl |
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: public ResidualModelAbstractTpl<_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 ResidualModelAbstractTpl<Scalar> Base; |
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typedef ResidualDataContactFrictionConeTpl<Scalar> Data; |
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typedef StateMultibodyTpl<Scalar> StateMultibody; |
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typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract; |
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typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; |
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typedef FrictionConeTpl<Scalar> FrictionCone; |
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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::MatrixX3s MatrixX3s; |
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/** |
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* @brief Initialize the contact friction cone residual model |
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* |
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* Note that for the inverse-dynamic cases, the control vector contains the |
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* generalized accelerations, torques, and all the contact forces. |
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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 |
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* @param[in] fref Reference friction cone |
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* @param[in] nu Dimension of the control vector |
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* @param[in] fwddyn Indicates that we have a forward dynamics problem (true) |
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* or inverse dynamics (false) |
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*/ |
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ResidualModelContactFrictionConeTpl(boost::shared_ptr<StateMultibody> state, |
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const pinocchio::FrameIndex id, |
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const FrictionCone& fref, |
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const std::size_t nu, |
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const bool fwddyn = true); |
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/** |
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* @brief Initialize the contact friction cone residual model |
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* |
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* The default `nu` value is obtained from `StateAbstractTpl::get_nv()`. Note |
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* that this constructor can be used for forward-dynamics cases only. |
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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 |
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* @param[in] fref Reference friction cone |
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*/ |
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ResidualModelContactFrictionConeTpl(boost::shared_ptr<StateMultibody> state, |
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const pinocchio::FrameIndex id, |
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const FrictionCone& fref); |
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virtual ~ResidualModelContactFrictionConeTpl(); |
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/** |
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* @brief Compute the contact friction cone residual |
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* |
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* @param[in] data Contact friction cone residual data |
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* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
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* @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ |
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*/ |
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virtual void calc(const boost::shared_ptr<ResidualDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& u); |
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/** |
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* @brief Compute the residual vector for nodes that depends only on the state |
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* |
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* It updates the residual vector based on the state only (i.e., it ignores |
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* the contact forces). This function is used in the terminal nodes of an |
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* optimal control problem. |
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* |
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* @param[in] data Residual 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<ResidualDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x); |
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/** |
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* @brief Compute the Jacobians of the contact friction cone residual |
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* |
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* @param[in] data Contact friction cone residual data |
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* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
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* @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ |
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*/ |
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virtual void calcDiff(const boost::shared_ptr<ResidualDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& u); |
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/** |
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* @brief Compute the Jacobian of the residual functions with respect to the |
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* state only |
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* |
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* It updates the Jacobian of the residual function based on the state only |
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* (i.e., it ignores the contact forces). This function is used in the |
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* terminal nodes of an optimal control problem. |
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* |
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* @param[in] data Residual 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<ResidualDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x); |
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/** |
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* @brief Create the contact friction cone residual data |
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*/ |
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virtual boost::shared_ptr<ResidualDataAbstract> createData( |
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DataCollectorAbstract* const data); |
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/** |
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* @brief Update the Jacobians of the contact friction cone residual |
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* |
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* @param[in] data Contact friction cone residual data |
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*/ |
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void updateJacobians(const boost::shared_ptr<ResidualDataAbstract>& data); |
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/** |
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* @brief Indicates if we are using the forward-dynamics (true) or |
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* inverse-dynamics (false) |
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*/ |
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bool is_fwddyn() 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 Return the reference contact friction cone |
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*/ |
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const FrictionCone& get_reference() const; |
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/** |
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* @brief Modify the reference frame id |
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*/ |
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DEPRECATED("Do not use set_id, instead create a new model", |
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void set_id(const pinocchio::FrameIndex id);) |
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/** |
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* @brief Modify the reference contact friction cone |
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*/ |
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void set_reference(const FrictionCone& reference); |
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/** |
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* @brief Print relevant information of the contact-friction-cone residual |
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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::nu_; |
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using Base::state_; |
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private: |
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bool fwddyn_; //!< Indicates if we are using this function for forward |
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//!< dynamics |
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bool update_jacobians_; //!< Indicates if we need to update the Jacobians |
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//!< (used for inverse dynamics case) |
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pinocchio::FrameIndex id_; //!< Reference frame id |
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FrictionCone fref_; //!< Reference contact friction cone |
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}; |
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template <typename _Scalar> |
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struct ResidualDataContactFrictionConeTpl |
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: public ResidualDataAbstractTpl<_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 ResidualDataAbstractTpl<Scalar> Base; |
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typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; |
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typedef ContactModelMultipleTpl<Scalar> ContactModelMultiple; |
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typedef ImpulseModelMultipleTpl<Scalar> ImpulseModelMultiple; |
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typedef StateMultibodyTpl<Scalar> StateMultibody; |
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typedef typename MathBase::MatrixXs MatrixXs; |
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template <template <typename Scalar> class Model> |
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ResidualDataContactFrictionConeTpl(Model<Scalar>* const model, |
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DataCollectorAbstract* const data) |
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: Base(model, data) { |
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contact_type = ContactUndefined; |
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// Check that proper shared data has been passed |
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bool is_contact = true; |
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DataCollectorContactTpl<Scalar>* d1 = |
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✓✗ |
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dynamic_cast<DataCollectorContactTpl<Scalar>*>(shared); |
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DataCollectorImpulseTpl<Scalar>* d2 = |
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✓✗ |
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dynamic_cast<DataCollectorImpulseTpl<Scalar>*>(shared); |
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✓✓✗✓
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if (d1 == NULL && d2 == NULL) { |
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throw_pretty( |
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"Invalid argument: the shared data should be derived from " |
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"DataCollectorContact or DataCollectorImpulse"); |
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} |
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✓✓ |
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if (d2 != NULL) { |
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is_contact = false; |
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} |
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// Avoids data casting at runtime |
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const pinocchio::FrameIndex id = model->get_id(); |
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const boost::shared_ptr<StateMultibody>& state = |
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boost::static_pointer_cast<StateMultibody>(model->get_state()); |
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✓✗ |
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std::string frame_name = state->get_pinocchio()->frames[id].name; |
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bool found_contact = false; |
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✓✓ |
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if (is_contact) { |
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for (typename ContactModelMultiple::ContactDataContainer::iterator it = |
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d1->contacts->contacts.begin(); |
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✓✗ |
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it != d1->contacts->contacts.end(); ++it) { |
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✓✓ |
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if (it->second->frame == id) { |
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✓✗ |
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ContactData2DTpl<Scalar>* d2d = |
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dynamic_cast<ContactData2DTpl<Scalar>*>(it->second.get()); |
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✓✓ |
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if (d2d != NULL) { |
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contact_type = Contact2D; |
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found_contact = true; |
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contact = it->second; |
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break; |
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} |
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✓✗ |
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ContactData3DTpl<Scalar>* d3d = |
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dynamic_cast<ContactData3DTpl<Scalar>*>(it->second.get()); |
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✓✓ |
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if (d3d != NULL) { |
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contact_type = Contact3D; |
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found_contact = true; |
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contact = it->second; |
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break; |
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} |
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✓✗ |
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ContactData6DTpl<Scalar>* d6d = |
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dynamic_cast<ContactData6DTpl<Scalar>*>(it->second.get()); |
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✓✗ |
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if (d6d != NULL) { |
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contact_type = Contact6D; |
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found_contact = true; |
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contact = it->second; |
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break; |
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} |
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throw_pretty( |
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"Domain error: there isn't defined at least a 2d contact for " + |
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frame_name); |
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break; |
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} |
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} |
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} else { |
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for (typename ImpulseModelMultiple::ImpulseDataContainer::iterator it = |
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d2->impulses->impulses.begin(); |
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✓✗ |
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it != d2->impulses->impulses.end(); ++it) { |
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✓✓ |
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if (it->second->frame == id) { |
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✓✗ |
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ImpulseData3DTpl<Scalar>* d3d = |
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dynamic_cast<ImpulseData3DTpl<Scalar>*>(it->second.get()); |
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✓✓ |
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if (d3d != NULL) { |
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contact_type = Contact3D; |
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found_contact = true; |
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contact = it->second; |
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break; |
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} |
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✓✗ |
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ImpulseData6DTpl<Scalar>* d6d = |
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dynamic_cast<ImpulseData6DTpl<Scalar>*>(it->second.get()); |
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✓✗ |
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if (d6d != NULL) { |
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contact_type = Contact6D; |
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found_contact = true; |
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contact = it->second; |
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break; |
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} |
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throw_pretty( |
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"Domain error: there isn't defined at least a 3d contact for " + |
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frame_name); |
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break; |
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} |
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} |
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} |
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✗✓ |
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if (!found_contact) { |
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throw_pretty("Domain error: there isn't defined contact data for " + |
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frame_name); |
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} |
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} |
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boost::shared_ptr<ForceDataAbstractTpl<Scalar> > |
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contact; //!< Contact force data |
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ContactType contact_type; //!< Type of contact (2D / 3D / 6D) |
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using Base::r; |
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using Base::Ru; |
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using Base::Rx; |
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using Base::shared; |
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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/residuals/contact-friction-cone.hxx" |
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#endif // CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_FRICTION_CONE_HPP_ |