1 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
2 |
|
|
// BSD 3-Clause License |
3 |
|
|
// |
4 |
|
|
// Copyright (C) 2021-2022, LAAS-CNRS, University of Edinburgh, INRIA |
5 |
|
|
// Copyright note valid unless otherwise stated in individual files. |
6 |
|
|
// All rights reserved. |
7 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
8 |
|
|
|
9 |
|
|
#ifdef PINOCCHIO_WITH_HPP_FCL |
10 |
|
|
|
11 |
|
|
#include <pinocchio/algorithm/geometry.hpp> |
12 |
|
|
#include <pinocchio/algorithm/jacobian.hpp> |
13 |
|
|
#include <pinocchio/multibody/fcl.hpp> |
14 |
|
|
|
15 |
|
|
#include "crocoddyl/core/utils/exception.hpp" |
16 |
|
|
|
17 |
|
|
namespace crocoddyl { |
18 |
|
|
|
19 |
|
|
template <typename Scalar> |
20 |
|
64 |
ResidualModelPairCollisionTpl<Scalar>::ResidualModelPairCollisionTpl( |
21 |
|
|
boost::shared_ptr<StateMultibody> state, const std::size_t nu, |
22 |
|
|
boost::shared_ptr<GeometryModel> geom_model, |
23 |
|
|
const pinocchio::PairIndex pair_id, const pinocchio::JointIndex joint_id) |
24 |
|
|
: Base(state, 3, nu, true, false, false), |
25 |
|
64 |
pin_model_(*state->get_pinocchio()), |
26 |
|
|
geom_model_(geom_model), |
27 |
|
|
pair_id_(pair_id), |
28 |
✓✗✓✗
|
128 |
joint_id_(joint_id) { |
29 |
✗✓ |
64 |
if (static_cast<pinocchio::FrameIndex>(geom_model->collisionPairs.size()) <= |
30 |
|
|
pair_id) { |
31 |
|
|
throw_pretty( |
32 |
|
|
"Invalid argument: " |
33 |
|
|
<< "the pair index is wrong (it does not exist in the geometry model)"); |
34 |
|
|
} |
35 |
✗✓ |
64 |
if (static_cast<pinocchio::FrameIndex>(state->get_pinocchio()->njoints) <= |
36 |
|
|
joint_id) { |
37 |
|
|
throw_pretty( |
38 |
|
|
"Invalid argument: " |
39 |
|
|
<< "the joint index is wrong (it does not exist in the robot)"); |
40 |
|
|
} |
41 |
|
64 |
} |
42 |
|
|
|
43 |
|
|
template <typename Scalar> |
44 |
|
128 |
ResidualModelPairCollisionTpl<Scalar>::~ResidualModelPairCollisionTpl() {} |
45 |
|
|
|
46 |
|
|
template <typename Scalar> |
47 |
|
2234 |
void ResidualModelPairCollisionTpl<Scalar>::calc( |
48 |
|
|
const boost::shared_ptr<ResidualDataAbstract> &data, |
49 |
|
|
const Eigen::Ref<const VectorXs> &x, const Eigen::Ref<const VectorXs> &) { |
50 |
|
2234 |
Data *d = static_cast<Data *>(data.get()); |
51 |
|
|
|
52 |
✓✗ |
2234 |
const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> q = |
53 |
|
|
x.head(state_->get_nq()); |
54 |
|
|
|
55 |
|
|
// computes the distance for the collision pair pair_id_ |
56 |
✓✗ |
2234 |
pinocchio::updateGeometryPlacements(pin_model_, *d->pinocchio, |
57 |
|
2234 |
*geom_model_.get(), d->geometry, q); |
58 |
✓✗ |
2234 |
pinocchio::computeDistance(*geom_model_.get(), d->geometry, pair_id_); |
59 |
|
|
|
60 |
|
|
// calculate residual |
61 |
✓✗✓✗
|
2234 |
data->r = d->geometry.distanceResults[pair_id_].nearest_points[0] - |
62 |
|
2234 |
d->geometry.distanceResults[pair_id_].nearest_points[1]; |
63 |
|
2234 |
} |
64 |
|
|
|
65 |
|
|
template <typename Scalar> |
66 |
|
42 |
void ResidualModelPairCollisionTpl<Scalar>::calcDiff( |
67 |
|
|
const boost::shared_ptr<ResidualDataAbstract> &data, |
68 |
|
|
const Eigen::Ref<const VectorXs> &, const Eigen::Ref<const VectorXs> &) { |
69 |
|
42 |
Data *d = static_cast<Data *>(data.get()); |
70 |
|
|
|
71 |
|
42 |
const std::size_t nv = state_->get_nv(); |
72 |
|
|
|
73 |
|
|
// calculate the vector from the joint jointId to the collision p1, expressed |
74 |
|
|
// in world frame |
75 |
✓✗ |
42 |
d->d = d->geometry.distanceResults[pair_id_].nearest_points[0] - |
76 |
|
42 |
d->pinocchio->oMi[joint_id_].translation(); |
77 |
|
42 |
pinocchio::getJointJacobian(pin_model_, *d->pinocchio, joint_id_, |
78 |
|
42 |
pinocchio::LOCAL_WORLD_ALIGNED, d->J); |
79 |
|
|
|
80 |
|
|
// calculate the Jacobian at p1 |
81 |
✓✗✓✗
✓✗✓✗
|
42 |
d->J.template topRows<3>().noalias() += |
82 |
✓✗✓✗
|
42 |
pinocchio::skew(d->d).transpose() * d->J.template bottomRows<3>(); |
83 |
|
|
|
84 |
|
|
// compute the residual derivatives |
85 |
✓✗✓✗
|
42 |
d->Rx.topLeftCorner(3, nv) = d->J.template topRows<3>(); |
86 |
|
42 |
} |
87 |
|
|
|
88 |
|
|
template <typename Scalar> |
89 |
|
|
boost::shared_ptr<ResidualDataAbstractTpl<Scalar> > |
90 |
|
2716 |
ResidualModelPairCollisionTpl<Scalar>::createData( |
91 |
|
|
DataCollectorAbstract *const data) { |
92 |
|
|
return boost::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this, |
93 |
✓✗ |
2716 |
data); |
94 |
|
|
} |
95 |
|
|
|
96 |
|
|
template <typename Scalar> |
97 |
|
|
const pinocchio::GeometryModel & |
98 |
|
2716 |
ResidualModelPairCollisionTpl<Scalar>::get_geometry() const { |
99 |
|
2716 |
return *geom_model_.get(); |
100 |
|
|
} |
101 |
|
|
|
102 |
|
|
} // namespace crocoddyl |
103 |
|
|
|
104 |
|
|
#endif // PINOCCHIO_WITH_HPP_FCL |