| Directory: | ./ |
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| File: | include/crocoddyl/multibody/contacts/multiple-contacts.hpp |
| Date: | 2025-03-26 19:23:43 |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, 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_CONTACTS_MULTIPLE_CONTACTS_HPP_ | ||
| 11 | #define CROCODDYL_MULTIBODY_CONTACTS_MULTIPLE_CONTACTS_HPP_ | ||
| 12 | |||
| 13 | #include <map> | ||
| 14 | #include <set> | ||
| 15 | #include <string> | ||
| 16 | #include <utility> | ||
| 17 | |||
| 18 | #include "crocoddyl/multibody/contact-base.hpp" | ||
| 19 | #include "crocoddyl/multibody/fwd.hpp" | ||
| 20 | |||
| 21 | namespace crocoddyl { | ||
| 22 | |||
| 23 | template <typename _Scalar> | ||
| 24 | struct ContactItemTpl { | ||
| 25 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 26 | |||
| 27 | typedef _Scalar Scalar; | ||
| 28 | typedef ContactModelAbstractTpl<Scalar> ContactModelAbstract; | ||
| 29 | |||
| 30 | ✗ | ContactItemTpl() {} | |
| 31 | 1717 | ContactItemTpl(const std::string& name, | |
| 32 | std::shared_ptr<ContactModelAbstract> contact, | ||
| 33 | const bool active = true) | ||
| 34 | 1717 | : name(name), contact(contact), active(active) {} | |
| 35 | |||
| 36 | template <typename NewScalar> | ||
| 37 | ✗ | ContactItemTpl<NewScalar> cast() const { | |
| 38 | typedef ContactItemTpl<NewScalar> ReturnType; | ||
| 39 | ✗ | ReturnType ret(name, contact->template cast<NewScalar>(), active); | |
| 40 | ✗ | return ret; | |
| 41 | } | ||
| 42 | |||
| 43 | /** | ||
| 44 | * @brief Print information on the contact item | ||
| 45 | */ | ||
| 46 | ✗ | friend std::ostream& operator<<(std::ostream& os, | |
| 47 | const ContactItemTpl<Scalar>& model) { | ||
| 48 | ✗ | os << "{" << *model.contact << "}"; | |
| 49 | ✗ | return os; | |
| 50 | } | ||
| 51 | |||
| 52 | std::string name; | ||
| 53 | std::shared_ptr<ContactModelAbstract> contact; | ||
| 54 | bool active; | ||
| 55 | }; | ||
| 56 | |||
| 57 | /** | ||
| 58 | * @brief Define a stack of contact models | ||
| 59 | * | ||
| 60 | * The contact models can be defined with active and inactive status. The idea | ||
| 61 | * behind this design choice is to be able to create a mechanism that allocates | ||
| 62 | * the entire data needed for the computations. Then, there are designed | ||
| 63 | * routines that update the only active contacts. | ||
| 64 | */ | ||
| 65 | template <typename _Scalar> | ||
| 66 | class ContactModelMultipleTpl { | ||
| 67 | public: | ||
| 68 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 69 | |||
| 70 | typedef _Scalar Scalar; | ||
| 71 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 72 | typedef StateMultibodyTpl<Scalar> StateMultibody; | ||
| 73 | typedef ContactDataAbstractTpl<Scalar> ContactDataAbstract; | ||
| 74 | typedef ContactDataMultipleTpl<Scalar> ContactDataMultiple; | ||
| 75 | typedef ContactModelAbstractTpl<Scalar> ContactModelAbstract; | ||
| 76 | |||
| 77 | typedef ContactItemTpl<Scalar> ContactItem; | ||
| 78 | |||
| 79 | typedef typename MathBase::Vector2s Vector2s; | ||
| 80 | typedef typename MathBase::Vector3s Vector3s; | ||
| 81 | typedef typename MathBase::VectorXs VectorXs; | ||
| 82 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 83 | |||
| 84 | typedef std::map<std::string, std::shared_ptr<ContactItem> > | ||
| 85 | ContactModelContainer; | ||
| 86 | typedef std::map<std::string, std::shared_ptr<ContactDataAbstract> > | ||
| 87 | ContactDataContainer; | ||
| 88 | typedef typename pinocchio::container::aligned_vector< | ||
| 89 | pinocchio::ForceTpl<Scalar> >::iterator ForceIterator; | ||
| 90 | |||
| 91 | /** | ||
| 92 | * @brief Initialize the multi-contact model | ||
| 93 | * | ||
| 94 | * @param[in] state Multibody state | ||
| 95 | * @param[in] nu Dimension of control vector | ||
| 96 | */ | ||
| 97 | ContactModelMultipleTpl(std::shared_ptr<StateMultibody> state, | ||
| 98 | const std::size_t nu); | ||
| 99 | |||
| 100 | /** | ||
| 101 | * @brief Initialize the multi-contact model | ||
| 102 | * | ||
| 103 | * @param[in] state Multibody state | ||
| 104 | */ | ||
| 105 | ContactModelMultipleTpl(std::shared_ptr<StateMultibody> state); | ||
| 106 | ~ContactModelMultipleTpl(); | ||
| 107 | |||
| 108 | /** | ||
| 109 | * @brief Add contact item | ||
| 110 | * | ||
| 111 | * Note that the memory is allocated for inactive contacts as well. | ||
| 112 | * | ||
| 113 | * @param[in] name Contact name | ||
| 114 | * @param[in] contact Contact model | ||
| 115 | * @param[in] active Contact status (active by default) | ||
| 116 | */ | ||
| 117 | void addContact(const std::string& name, | ||
| 118 | std::shared_ptr<ContactModelAbstract> contact, | ||
| 119 | const bool active = true); | ||
| 120 | |||
| 121 | /** | ||
| 122 | * @brief Remove contact item | ||
| 123 | * | ||
| 124 | * @param[in] name Contact name | ||
| 125 | */ | ||
| 126 | void removeContact(const std::string& name); | ||
| 127 | |||
| 128 | /** | ||
| 129 | * @brief Change the contact status | ||
| 130 | * | ||
| 131 | * @param[in] name Contact name | ||
| 132 | * @param[in] active Contact status (True for active) | ||
| 133 | */ | ||
| 134 | void changeContactStatus(const std::string& name, const bool active); | ||
| 135 | |||
| 136 | /** | ||
| 137 | * @brief Compute the contact Jacobian and contact acceleration | ||
| 138 | * | ||
| 139 | * @param[in] data Multi-contact data | ||
| 140 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 141 | */ | ||
| 142 | void calc(const std::shared_ptr<ContactDataMultiple>& data, | ||
| 143 | const Eigen::Ref<const VectorXs>& x); | ||
| 144 | |||
| 145 | /** | ||
| 146 | * @brief Compute the derivatives of the contact holonomic constraint | ||
| 147 | * | ||
| 148 | * @param[in] data Multi-contact data | ||
| 149 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 150 | */ | ||
| 151 | void calcDiff(const std::shared_ptr<ContactDataMultiple>& data, | ||
| 152 | const Eigen::Ref<const VectorXs>& x); | ||
| 153 | |||
| 154 | /** | ||
| 155 | * @brief Update the constrained system acceleration | ||
| 156 | * | ||
| 157 | * @param[in] data Multi-contact data | ||
| 158 | * @param[in] dv Constrained system acceleration | ||
| 159 | * \f$\dot{\mathbf{v}}\in\mathbb{R}^{nv}\f$ | ||
| 160 | */ | ||
| 161 | void updateAcceleration(const std::shared_ptr<ContactDataMultiple>& data, | ||
| 162 | const VectorXs& dv) const; | ||
| 163 | |||
| 164 | /** | ||
| 165 | * @brief Update the spatial force defined in frame coordinate | ||
| 166 | * | ||
| 167 | * @param[in] data Multi-contact data | ||
| 168 | * @param[in] force Spatial force defined in frame coordinate | ||
| 169 | * \f${}^o\underline{\boldsymbol{\lambda}}_c\in\mathbb{R}^{nc}\f$ | ||
| 170 | */ | ||
| 171 | void updateForce(const std::shared_ptr<ContactDataMultiple>& data, | ||
| 172 | const VectorXs& force); | ||
| 173 | |||
| 174 | /** | ||
| 175 | * @brief Update the Jacobian of the constrained system acceleration | ||
| 176 | * | ||
| 177 | * @param[in] data Multi-contact data | ||
| 178 | * @param[in] ddv_dx Jacobian of the system acceleration in generalized | ||
| 179 | * coordinates | ||
| 180 | * \f$\frac{\partial\dot{\mathbf{v}}}{\partial\mathbf{x}}\in\mathbb{R}^{nv\times | ||
| 181 | * ndx}\f$ | ||
| 182 | */ | ||
| 183 | void updateAccelerationDiff(const std::shared_ptr<ContactDataMultiple>& data, | ||
| 184 | const MatrixXs& ddv_dx) const; | ||
| 185 | |||
| 186 | /** | ||
| 187 | * @brief Update the Jacobian of the spatial force defined in frame coordinate | ||
| 188 | * | ||
| 189 | * @param[in] data Multi-contact data | ||
| 190 | * @param[in] df_dx Jacobian of the spatial impulse defined in frame | ||
| 191 | * coordinate | ||
| 192 | * \f$\frac{\partial{}^o\underline{\boldsymbol{\lambda}}_c}{\partial\mathbf{x}}\in\mathbb{R}^{nc\times{ndx}}\f$ | ||
| 193 | * @param[in] df_du Jacobian of the spatial impulse defined in frame | ||
| 194 | * coordinate | ||
| 195 | * \f$\frac{\partial{}^o\underline{\boldsymbol{\lambda}}_c}{\partial\mathbf{u}}\in\mathbb{R}^{nc\times{nu}}\f$ | ||
| 196 | */ | ||
| 197 | void updateForceDiff(const std::shared_ptr<ContactDataMultiple>& data, | ||
| 198 | const MatrixXs& df_dx, const MatrixXs& df_du) const; | ||
| 199 | |||
| 200 | /** | ||
| 201 | * @brief Update the RNEA derivatives dtau_dq by adding the skew term | ||
| 202 | * (necessary for contacts expressed in LOCAL_WORLD_ALIGNED / WORLD) | ||
| 203 | * | ||
| 204 | * To learn more about the computation of the contact derivatives in different | ||
| 205 | * frames see https://hal.science/hal-03758989/document. | ||
| 206 | * | ||
| 207 | * @param[in] data Multi-contact data | ||
| 208 | * @param[in] pinocchio Pinocchio data | ||
| 209 | */ | ||
| 210 | void updateRneaDiff(const std::shared_ptr<ContactDataMultiple>& data, | ||
| 211 | pinocchio::DataTpl<Scalar>& pinocchio) const; | ||
| 212 | |||
| 213 | /** | ||
| 214 | * @brief Create the multi-contact data | ||
| 215 | * | ||
| 216 | * @param[in] data Pinocchio data | ||
| 217 | * @return the multi-contact data. | ||
| 218 | */ | ||
| 219 | std::shared_ptr<ContactDataMultiple> createData( | ||
| 220 | pinocchio::DataTpl<Scalar>* const data); | ||
| 221 | |||
| 222 | /** | ||
| 223 | * @brief Cast the multi-contact model to a different scalar type. | ||
| 224 | * | ||
| 225 | * It is useful for operations requiring different precision or scalar types. | ||
| 226 | * | ||
| 227 | * @tparam NewScalar The new scalar type to cast to. | ||
| 228 | * @return ContactModelMultipleTpl<NewScalar> A multi-contact model with the | ||
| 229 | * new scalar type. | ||
| 230 | */ | ||
| 231 | template <typename NewScalar> | ||
| 232 | ContactModelMultipleTpl<NewScalar> cast() const; | ||
| 233 | |||
| 234 | /** | ||
| 235 | * @brief Return the multibody state | ||
| 236 | */ | ||
| 237 | const std::shared_ptr<StateMultibody>& get_state() const; | ||
| 238 | |||
| 239 | /** | ||
| 240 | * @brief Return the contact models | ||
| 241 | */ | ||
| 242 | const ContactModelContainer& get_contacts() const; | ||
| 243 | |||
| 244 | /** | ||
| 245 | * @brief Return the dimension of active contacts | ||
| 246 | */ | ||
| 247 | std::size_t get_nc() const; | ||
| 248 | |||
| 249 | /** | ||
| 250 | * @brief Return the dimension of all contacts | ||
| 251 | */ | ||
| 252 | std::size_t get_nc_total() const; | ||
| 253 | |||
| 254 | /** | ||
| 255 | * @brief Return the dimension of control vector | ||
| 256 | */ | ||
| 257 | std::size_t get_nu() const; | ||
| 258 | |||
| 259 | /** | ||
| 260 | * @brief Return the names of the set of active contacts | ||
| 261 | */ | ||
| 262 | const std::set<std::string>& get_active_set() const; | ||
| 263 | |||
| 264 | /** | ||
| 265 | * @brief Return the names of the set of inactive contacts | ||
| 266 | */ | ||
| 267 | const std::set<std::string>& get_inactive_set() const; | ||
| 268 | |||
| 269 | /** | ||
| 270 | * @brief Return the status of a given contact name | ||
| 271 | */ | ||
| 272 | bool getContactStatus(const std::string& name) const; | ||
| 273 | |||
| 274 | /** | ||
| 275 | * @brief Return the type of contact computation | ||
| 276 | * | ||
| 277 | * True for all contacts, otherwise false for active contacts | ||
| 278 | */ | ||
| 279 | bool getComputeAllContacts() const; | ||
| 280 | |||
| 281 | /** | ||
| 282 | * @brief Set the tyoe of contact computation: all or active contacts | ||
| 283 | * | ||
| 284 | * @param status Type of contact computation (true for all contacts and false | ||
| 285 | * for active contacts) | ||
| 286 | */ | ||
| 287 | void setComputeAllContacts(const bool status); | ||
| 288 | |||
| 289 | /** | ||
| 290 | * @brief Print information on the contact models | ||
| 291 | */ | ||
| 292 | template <class Scalar> | ||
| 293 | friend std::ostream& operator<<(std::ostream& os, | ||
| 294 | const ContactModelMultipleTpl<Scalar>& model); | ||
| 295 | |||
| 296 | private: | ||
| 297 | std::shared_ptr<StateMultibody> state_; | ||
| 298 | ContactModelContainer contacts_; | ||
| 299 | std::size_t nc_; | ||
| 300 | std::size_t nc_total_; | ||
| 301 | std::size_t nu_; | ||
| 302 | std::set<std::string> active_set_; | ||
| 303 | std::set<std::string> inactive_set_; | ||
| 304 | bool compute_all_contacts_; | ||
| 305 | }; | ||
| 306 | |||
| 307 | /** | ||
| 308 | * @brief Define the multi-contact data | ||
| 309 | * | ||
| 310 | * \sa ContactModelMultipleTpl | ||
| 311 | */ | ||
| 312 | template <typename _Scalar> | ||
| 313 | struct ContactDataMultipleTpl { | ||
| 314 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 315 | |||
| 316 | typedef _Scalar Scalar; | ||
| 317 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 318 | typedef ContactModelMultipleTpl<Scalar> ContactModelMultiple; | ||
| 319 | typedef ContactItemTpl<Scalar> ContactItem; | ||
| 320 | typedef typename MathBase::VectorXs VectorXs; | ||
| 321 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 322 | |||
| 323 | /** | ||
| 324 | * @brief Initialized a multi-contact data | ||
| 325 | * | ||
| 326 | * @param[in] model Multi-contact model | ||
| 327 | * @param[in] data Pinocchio data | ||
| 328 | */ | ||
| 329 | template <template <typename Scalar> class Model> | ||
| 330 | 71013 | ContactDataMultipleTpl(Model<Scalar>* const model, | |
| 331 | pinocchio::DataTpl<Scalar>* const data) | ||
| 332 |
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71013 | : Jc(model->get_nc_total(), model->get_state()->get_nv()), |
| 333 |
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71013 | a0(model->get_nc_total()), |
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71013 | da0_dx(model->get_nc_total(), model->get_state()->get_ndx()), |
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71013 | dv(model->get_state()->get_nv()), |
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71013 | ddv_dx(model->get_state()->get_nv(), model->get_state()->get_ndx()), |
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71013 | fext(model->get_state()->get_pinocchio()->njoints, |
| 338 | 71013 | pinocchio::ForceTpl<Scalar>::Zero()) { | |
| 339 |
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71013 | Jc.setZero(); |
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71013 | a0.setZero(); |
| 341 |
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71013 | da0_dx.setZero(); |
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71013 | dv.setZero(); |
| 343 |
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71013 | ddv_dx.setZero(); |
| 344 | 71013 | for (typename ContactModelMultiple::ContactModelContainer::const_iterator | |
| 345 |
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71013 | it = model->get_contacts().begin(); |
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231840 | it != model->get_contacts().end(); ++it) { |
| 347 | 160827 | const std::shared_ptr<ContactItem>& item = it->second; | |
| 348 |
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160827 | contacts.insert( |
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160827 | std::make_pair(item->name, item->contact->createData(data))); |
| 350 | } | ||
| 351 | 71013 | } | |
| 352 | |||
| 353 | MatrixXs Jc; //!< Contact Jacobian in frame coordinate | ||
| 354 | //!< \f$\mathbf{J}_c\in\mathbb{R}^{nc_{total}\times{nv}}\f$ | ||
| 355 | //!< (memory defined for active and inactive contacts) | ||
| 356 | VectorXs a0; //!< Desired spatial contact acceleration in frame coordinate | ||
| 357 | //!< \f$\underline{\mathbf{a}}_0\in\mathbb{R}^{nc_{total}}\f$ | ||
| 358 | //!< (memory defined for active and inactive contacts) | ||
| 359 | MatrixXs | ||
| 360 | da0_dx; //!< Jacobian of the desired spatial contact acceleration in | ||
| 361 | //!< frame coordinate | ||
| 362 | //!< \f$\frac{\partial\underline{\mathbf{a}}_0}{\partial\mathbf{x}}\in\mathbb{R}^{nc_{total}\times{ndx}}\f$ | ||
| 363 | //!< (memory defined for active and inactive contacts) | ||
| 364 | VectorXs dv; //!< Constrained system acceleration in generalized coordinates | ||
| 365 | //!< \f$\dot{\mathbf{v}}\in\mathbb{R}^{nv}\f$ | ||
| 366 | MatrixXs | ||
| 367 | ddv_dx; //!< Jacobian of the system acceleration in generalized | ||
| 368 | //!< coordinates | ||
| 369 | //!< \f$\frac{\partial\dot{\mathbf{v}}}{\partial\mathbf{x}}\in\mathbb{R}^{nv\times | ||
| 370 | //!< ndx}\f$ | ||
| 371 | typename ContactModelMultiple::ContactDataContainer | ||
| 372 | contacts; //!< Stack of contact data | ||
| 373 | pinocchio::container::aligned_vector<pinocchio::ForceTpl<Scalar> > | ||
| 374 | fext; //!< External spatial forces in body coordinates | ||
| 375 | }; | ||
| 376 | |||
| 377 | } // namespace crocoddyl | ||
| 378 | |||
| 379 | /* --- Details -------------------------------------------------------------- */ | ||
| 380 | /* --- Details -------------------------------------------------------------- */ | ||
| 381 | /* --- Details -------------------------------------------------------------- */ | ||
| 382 | #include "crocoddyl/multibody/contacts/multiple-contacts.hxx" | ||
| 383 | |||
| 384 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::ContactItemTpl) | ||
| 385 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::ContactModelMultipleTpl) | ||
| 386 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::ContactDataMultipleTpl) | ||
| 387 | |||
| 388 | #endif // CROCODDYL_MULTIBODY_CONTACTS_MULTIPLE_CONTACTS_HPP_ | ||
| 389 |