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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2025, 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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namespace crocoddyl { |
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template <typename Scalar> |
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ContactModelMultipleTpl<Scalar>::ContactModelMultipleTpl( |
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std::shared_ptr<StateMultibody> state, const std::size_t nu) |
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: state_(state), |
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nc_(0), |
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nc_total_(0), |
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nu_(nu), |
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compute_all_contacts_(false) {} |
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template <typename Scalar> |
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ContactModelMultipleTpl<Scalar>::ContactModelMultipleTpl( |
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std::shared_ptr<StateMultibody> state) |
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: state_(state), |
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nc_(0), |
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nc_total_(0), |
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nu_(state->get_nv()), |
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compute_all_contacts_(false) {} |
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template <typename Scalar> |
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ContactModelMultipleTpl<Scalar>::~ContactModelMultipleTpl() {} |
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template <typename Scalar> |
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void ContactModelMultipleTpl<Scalar>::addContact( |
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const std::string& name, std::shared_ptr<ContactModelAbstract> contact, |
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const bool active) { |
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if (contact->get_nu() != nu_) { |
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throw_pretty("Invalid argument: " |
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<< name |
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<< " contact item doesn't have the same control dimension (" + |
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std::to_string(nu_) + ")"); |
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} |
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std::pair<typename ContactModelContainer::iterator, bool> ret = |
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contacts_.insert(std::make_pair( |
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name, std::make_shared<ContactItem>(name, contact, active))); |
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if (ret.second == false) { |
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std::cerr << "Warning: we couldn't add the " << name |
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<< " contact item, it already existed." << std::endl; |
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} else if (active) { |
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nc_ += contact->get_nc(); |
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nc_total_ += contact->get_nc(); |
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active_set_.insert(name); |
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} else if (!active) { |
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nc_total_ += contact->get_nc(); |
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inactive_set_.insert(name); |
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} |
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} |
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template <typename Scalar> |
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void ContactModelMultipleTpl<Scalar>::removeContact(const std::string& name) { |
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typename ContactModelContainer::iterator it = contacts_.find(name); |
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if (it != contacts_.end()) { |
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nc_ -= it->second->contact->get_nc(); |
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nc_total_ -= it->second->contact->get_nc(); |
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contacts_.erase(it); |
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active_set_.erase(name); |
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inactive_set_.erase(name); |
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} else { |
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std::cerr << "Warning: we couldn't remove the " << name |
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<< " contact item, it doesn't exist." << std::endl; |
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} |
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} |
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template <typename Scalar> |
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void ContactModelMultipleTpl<Scalar>::changeContactStatus( |
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const std::string& name, const bool active) { |
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typename ContactModelContainer::iterator it = contacts_.find(name); |
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if (it != contacts_.end()) { |
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if (active && !it->second->active) { |
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nc_ += it->second->contact->get_nc(); |
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active_set_.insert(name); |
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inactive_set_.erase(name); |
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} else if (!active && it->second->active) { |
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nc_ -= it->second->contact->get_nc(); |
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inactive_set_.insert(name); |
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active_set_.erase(name); |
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} |
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// "else" case: Contact status unchanged - already in desired state |
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it->second->active = active; |
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} else { |
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std::cerr << "Warning: we couldn't change the status of the " << name |
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<< " contact item, it doesn't exist." << std::endl; |
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} |
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} |
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template <typename Scalar> |
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void ContactModelMultipleTpl<Scalar>::calc( |
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const std::shared_ptr<ContactDataMultiple>& data, |
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const Eigen::Ref<const VectorXs>& x) { |
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if (data->contacts.size() != contacts_.size()) { |
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throw_pretty("Invalid argument: " |
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<< "it doesn't match the number of contact datas and models"); |
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} |
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std::size_t nc = 0; |
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const std::size_t nv = state_->get_nv(); |
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typename ContactModelContainer::iterator it_m, end_m; |
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typename ContactDataContainer::iterator it_d, end_d; |
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if (compute_all_contacts_) { |
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for (it_m = contacts_.begin(), end_m = contacts_.end(), |
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it_d = data->contacts.begin(), end_d = data->contacts.end(); |
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it_m != end_m || it_d != end_d; ++it_m, ++it_d) { |
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const std::shared_ptr<ContactItem>& m_i = it_m->second; |
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const std::size_t nc_i = m_i->contact->get_nc(); |
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if (m_i->active) { |
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const std::shared_ptr<ContactDataAbstract>& d_i = it_d->second; |
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assert_pretty( |
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it_m->first == it_d->first, |
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"it doesn't match the contact name between model and data (" |
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<< it_m->first << " != " << it_d->first << ")"); |
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m_i->contact->calc(d_i, x); |
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data->a0.segment(nc, nc_i) = d_i->a0; |
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data->Jc.block(nc, 0, nc_i, nv) = d_i->Jc; |
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} else { |
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data->a0.segment(nc, nc_i).setZero(); |
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data->Jc.block(nc, 0, nc_i, nv).setZero(); |
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} |
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nc += nc_i; |
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} |
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} else { |
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for (it_m = contacts_.begin(), end_m = contacts_.end(), |
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it_d = data->contacts.begin(), end_d = data->contacts.end(); |
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it_m != end_m || it_d != end_d; ++it_m, ++it_d) { |
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const std::shared_ptr<ContactItem>& m_i = it_m->second; |
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if (m_i->active) { |
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const std::shared_ptr<ContactDataAbstract>& d_i = it_d->second; |
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assert_pretty( |
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it_m->first == it_d->first, |
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"it doesn't match the contact name between model and data (" |
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<< it_m->first << " != " << it_d->first << ")"); |
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m_i->contact->calc(d_i, x); |
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const std::size_t nc_i = m_i->contact->get_nc(); |
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data->a0.segment(nc, nc_i) = d_i->a0; |
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data->Jc.block(nc, 0, nc_i, nv) = d_i->Jc; |
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nc += nc_i; |
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} |
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} |
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} |
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} |
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template <typename Scalar> |
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void ContactModelMultipleTpl<Scalar>::calcDiff( |
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const std::shared_ptr<ContactDataMultiple>& data, |
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const Eigen::Ref<const VectorXs>& x) { |
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if (data->contacts.size() != contacts_.size()) { |
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throw_pretty("Invalid argument: " |
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<< "it doesn't match the number of contact datas and models"); |
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} |
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std::size_t nc = 0; |
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const std::size_t ndx = state_->get_ndx(); |
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typename ContactModelContainer::iterator it_m, end_m; |
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typename ContactDataContainer::iterator it_d, end_d; |
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if (compute_all_contacts_) { |
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for (it_m = contacts_.begin(), end_m = contacts_.end(), |
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it_d = data->contacts.begin(), end_d = data->contacts.end(); |
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it_m != end_m || it_d != end_d; ++it_m, ++it_d) { |
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const std::shared_ptr<ContactItem>& m_i = it_m->second; |
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const std::size_t nc_i = m_i->contact->get_nc(); |
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if (m_i->active) { |
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assert_pretty( |
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it_m->first == it_d->first, |
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"it doesn't match the contact name between model and data (" |
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<< it_m->first << " != " << it_d->first << ")"); |
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const std::shared_ptr<ContactDataAbstract>& d_i = it_d->second; |
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m_i->contact->calcDiff(d_i, x); |
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data->da0_dx.block(nc, 0, nc_i, ndx) = d_i->da0_dx; |
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} else { |
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data->da0_dx.block(nc, 0, nc_i, ndx).setZero(); |
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} |
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nc += nc_i; |
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} |
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} else { |
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for (it_m = contacts_.begin(), end_m = contacts_.end(), |
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it_d = data->contacts.begin(), end_d = data->contacts.end(); |
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it_m != end_m || it_d != end_d; ++it_m, ++it_d) { |
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const std::shared_ptr<ContactItem>& m_i = it_m->second; |
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if (m_i->active) { |
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const std::shared_ptr<ContactDataAbstract>& d_i = it_d->second; |
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assert_pretty( |
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it_m->first == it_d->first, |
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"it doesn't match the contact name between model and data (" |
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<< it_m->first << " != " << it_d->first << ")"); |
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m_i->contact->calcDiff(d_i, x); |
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const std::size_t nc_i = m_i->contact->get_nc(); |
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data->da0_dx.block(nc, 0, nc_i, ndx) = d_i->da0_dx; |
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nc += nc_i; |
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} |
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} |
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} |
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} |
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template <typename Scalar> |
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void ContactModelMultipleTpl<Scalar>::updateAcceleration( |
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const std::shared_ptr<ContactDataMultiple>& data, |
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const VectorXs& dv) const { |
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if (static_cast<std::size_t>(dv.size()) != state_->get_nv()) { |
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throw_pretty( |
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"Invalid argument: " << "dv has wrong dimension (it should be " + |
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std::to_string(state_->get_nv()) + ")"); |
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} |
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data->dv = dv; |
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} |
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template <typename Scalar> |
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void ContactModelMultipleTpl<Scalar>::updateForce( |
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const std::shared_ptr<ContactDataMultiple>& data, const VectorXs& force) { |
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if (static_cast<std::size_t>(force.size()) != |
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(compute_all_contacts_ ? nc_total_ : nc_)) { |
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throw_pretty( |
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"Invalid argument: " |
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<< "force has wrong dimension (it should be " + |
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std::to_string((compute_all_contacts_ ? nc_total_ : nc_)) + ")"); |
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} |
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if (static_cast<std::size_t>(data->contacts.size()) != contacts_.size()) { |
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throw_pretty("Invalid argument: " |
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<< "it doesn't match the number of contact datas and models"); |
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} |
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for (ForceIterator it = data->fext.begin(); it != data->fext.end(); ++it) { |
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*it = pinocchio::ForceTpl<Scalar>::Zero(); |
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} |
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std::size_t nc = 0; |
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typename ContactModelContainer::iterator it_m, end_m; |
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typename ContactDataContainer::iterator it_d, end_d; |
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✗ |
if (compute_all_contacts_) { |
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for (it_m = contacts_.begin(), end_m = contacts_.end(), |
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it_d = data->contacts.begin(), end_d = data->contacts.end(); |
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it_m != end_m || it_d != end_d; ++it_m, ++it_d) { |
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const std::shared_ptr<ContactItem>& m_i = it_m->second; |
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const std::shared_ptr<ContactDataAbstract>& d_i = it_d->second; |
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assert_pretty(it_m->first == it_d->first, |
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"it doesn't match the contact name between data and model"); |
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const std::size_t nc_i = m_i->contact->get_nc(); |
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✗ |
if (m_i->active) { |
| 250 |
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const Eigen::VectorBlock<const VectorXs, Eigen::Dynamic> force_i = |
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force.segment(nc, nc_i); |
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m_i->contact->updateForce(d_i, force_i); |
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const pinocchio::JointIndex joint = |
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state_->get_pinocchio()->frames[d_i->frame].parentJoint; |
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data->fext[joint] = d_i->fext; |
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} else { |
| 257 |
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m_i->contact->setZeroForce(d_i); |
| 258 |
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} |
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✗ |
nc += nc_i; |
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} |
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} else { |
| 262 |
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✗ |
for (it_m = contacts_.begin(), end_m = contacts_.end(), |
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it_d = data->contacts.begin(), end_d = data->contacts.end(); |
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it_m != end_m || it_d != end_d; ++it_m, ++it_d) { |
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const std::shared_ptr<ContactItem>& m_i = it_m->second; |
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const std::shared_ptr<ContactDataAbstract>& d_i = it_d->second; |
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✗ |
assert_pretty(it_m->first == it_d->first, |
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"it doesn't match the contact name between data and model"); |
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✗ |
if (m_i->active) { |
| 270 |
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✗ |
const std::size_t nc_i = m_i->contact->get_nc(); |
| 271 |
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const Eigen::VectorBlock<const VectorXs, Eigen::Dynamic> force_i = |
| 272 |
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✗ |
force.segment(nc, nc_i); |
| 273 |
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✗ |
m_i->contact->updateForce(d_i, force_i); |
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✗ |
const pinocchio::JointIndex joint = |
| 275 |
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✗ |
state_->get_pinocchio()->frames[d_i->frame].parentJoint; |
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✗ |
data->fext[joint] = d_i->fext; |
| 277 |
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✗ |
nc += nc_i; |
| 278 |
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} else { |
| 279 |
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✗ |
m_i->contact->setZeroForce(d_i); |
| 280 |
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} |
| 281 |
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} |
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} |
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} |
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template <typename Scalar> |
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|
✗ |
void ContactModelMultipleTpl<Scalar>::updateAccelerationDiff( |
| 287 |
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const std::shared_ptr<ContactDataMultiple>& data, |
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const MatrixXs& ddv_dx) const { |
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✗ |
if (static_cast<std::size_t>(ddv_dx.rows()) != state_->get_nv() || |
| 290 |
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✗ |
static_cast<std::size_t>(ddv_dx.cols()) != state_->get_ndx()) { |
| 291 |
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✗ |
throw_pretty( |
| 292 |
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"Invalid argument: " << "ddv_dx has wrong dimension (it should be " + |
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std::to_string(state_->get_nv()) + "," + |
| 294 |
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std::to_string(state_->get_ndx()) + ")"); |
| 295 |
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} |
| 296 |
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✗ |
data->ddv_dx = ddv_dx; |
| 297 |
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} |
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|
| 299 |
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template <typename Scalar> |
| 300 |
|
✗ |
void ContactModelMultipleTpl<Scalar>::updateForceDiff( |
| 301 |
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const std::shared_ptr<ContactDataMultiple>& data, const MatrixXs& df_dx, |
| 302 |
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const MatrixXs& df_du) const { |
| 303 |
|
✗ |
const std::size_t ndx = state_->get_ndx(); |
| 304 |
|
✗ |
if (static_cast<std::size_t>(df_dx.rows()) != |
| 305 |
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✗ |
(compute_all_contacts_ ? nc_total_ : nc_) || |
| 306 |
|
✗ |
static_cast<std::size_t>(df_dx.cols()) != ndx) { |
| 307 |
|
✗ |
throw_pretty( |
| 308 |
|
|
"Invalid argument: " |
| 309 |
|
|
<< "df_dx has wrong dimension (it should be " + |
| 310 |
|
|
std::to_string((compute_all_contacts_ ? nc_total_ : nc_)) + "," + |
| 311 |
|
|
std::to_string(ndx) + ")"); |
| 312 |
|
|
} |
| 313 |
|
✗ |
if (static_cast<std::size_t>(df_du.rows()) != |
| 314 |
|
✗ |
(compute_all_contacts_ ? nc_total_ : nc_) || |
| 315 |
|
✗ |
static_cast<std::size_t>(df_du.cols()) != nu_) { |
| 316 |
|
✗ |
throw_pretty( |
| 317 |
|
|
"Invalid argument: " |
| 318 |
|
|
<< "df_du has wrong dimension (it should be " + |
| 319 |
|
|
std::to_string((compute_all_contacts_ ? nc_total_ : nc_)) + "," + |
| 320 |
|
|
std::to_string(nu_) + ")"); |
| 321 |
|
|
} |
| 322 |
|
✗ |
if (static_cast<std::size_t>(data->contacts.size()) != contacts_.size()) { |
| 323 |
|
✗ |
throw_pretty("Invalid argument: " |
| 324 |
|
|
<< "it doesn't match the number of contact datas and models"); |
| 325 |
|
|
} |
| 326 |
|
|
|
| 327 |
|
✗ |
std::size_t nc = 0; |
| 328 |
|
✗ |
typename ContactModelContainer::const_iterator it_m, end_m; |
| 329 |
|
✗ |
typename ContactDataContainer::const_iterator it_d, end_d; |
| 330 |
|
✗ |
if (compute_all_contacts_) { |
| 331 |
|
✗ |
for (it_m = contacts_.begin(), end_m = contacts_.end(), |
| 332 |
|
✗ |
it_d = data->contacts.begin(), end_d = data->contacts.end(); |
| 333 |
|
✗ |
it_m != end_m || it_d != end_d; ++it_m, ++it_d) { |
| 334 |
|
✗ |
const std::shared_ptr<ContactItem>& m_i = it_m->second; |
| 335 |
|
✗ |
const std::shared_ptr<ContactDataAbstract>& d_i = it_d->second; |
| 336 |
|
✗ |
assert_pretty(it_m->first == it_d->first, |
| 337 |
|
|
"it doesn't match the contact name between data and model"); |
| 338 |
|
✗ |
const std::size_t nc_i = m_i->contact->get_nc(); |
| 339 |
|
✗ |
if (m_i->active) { |
| 340 |
|
|
const Eigen::Block<const MatrixXs> df_dx_i = |
| 341 |
|
✗ |
df_dx.block(nc, 0, nc_i, ndx); |
| 342 |
|
|
const Eigen::Block<const MatrixXs> df_du_i = |
| 343 |
|
✗ |
df_du.block(nc, 0, nc_i, nu_); |
| 344 |
|
✗ |
m_i->contact->updateForceDiff(d_i, df_dx_i, df_du_i); |
| 345 |
|
|
} else { |
| 346 |
|
✗ |
m_i->contact->setZeroForceDiff(d_i); |
| 347 |
|
|
} |
| 348 |
|
✗ |
nc += nc_i; |
| 349 |
|
|
} |
| 350 |
|
|
} else { |
| 351 |
|
✗ |
for (it_m = contacts_.begin(), end_m = contacts_.end(), |
| 352 |
|
✗ |
it_d = data->contacts.begin(), end_d = data->contacts.end(); |
| 353 |
|
✗ |
it_m != end_m || it_d != end_d; ++it_m, ++it_d) { |
| 354 |
|
✗ |
const std::shared_ptr<ContactItem>& m_i = it_m->second; |
| 355 |
|
✗ |
const std::shared_ptr<ContactDataAbstract>& d_i = it_d->second; |
| 356 |
|
✗ |
assert_pretty(it_m->first == it_d->first, |
| 357 |
|
|
"it doesn't match the contact name between data and model"); |
| 358 |
|
✗ |
if (m_i->active) { |
| 359 |
|
✗ |
const std::size_t nc_i = m_i->contact->get_nc(); |
| 360 |
|
|
const Eigen::Block<const MatrixXs> df_dx_i = |
| 361 |
|
✗ |
df_dx.block(nc, 0, nc_i, ndx); |
| 362 |
|
|
const Eigen::Block<const MatrixXs> df_du_i = |
| 363 |
|
✗ |
df_du.block(nc, 0, nc_i, nu_); |
| 364 |
|
✗ |
m_i->contact->updateForceDiff(d_i, df_dx_i, df_du_i); |
| 365 |
|
✗ |
nc += nc_i; |
| 366 |
|
|
} else { |
| 367 |
|
✗ |
m_i->contact->setZeroForceDiff(d_i); |
| 368 |
|
|
} |
| 369 |
|
|
} |
| 370 |
|
|
} |
| 371 |
|
|
} |
| 372 |
|
|
|
| 373 |
|
|
template <typename Scalar> |
| 374 |
|
✗ |
void ContactModelMultipleTpl<Scalar>::updateRneaDiff( |
| 375 |
|
|
const std::shared_ptr<ContactDataMultiple>& data, |
| 376 |
|
|
pinocchio::DataTpl<Scalar>& pinocchio) const { |
| 377 |
|
✗ |
if (static_cast<std::size_t>(data->contacts.size()) != |
| 378 |
|
✗ |
this->get_contacts().size()) { |
| 379 |
|
✗ |
throw_pretty("Invalid argument: " |
| 380 |
|
|
<< "it doesn't match the number of contact datas and models"); |
| 381 |
|
|
} |
| 382 |
|
✗ |
typename ContactModelContainer::const_iterator it_m, end_m; |
| 383 |
|
✗ |
typename ContactDataContainer::const_iterator it_d, end_d; |
| 384 |
|
✗ |
for (it_m = contacts_.begin(), end_m = contacts_.end(), |
| 385 |
|
✗ |
it_d = data->contacts.begin(), end_d = data->contacts.end(); |
| 386 |
|
✗ |
it_m != end_m || it_d != end_d; ++it_m, ++it_d) { |
| 387 |
|
✗ |
const std::shared_ptr<ContactItem>& m_i = it_m->second; |
| 388 |
|
✗ |
const std::shared_ptr<ContactDataAbstract>& d_i = it_d->second; |
| 389 |
|
✗ |
assert_pretty(it_m->first == it_d->first, |
| 390 |
|
|
"it doesn't match the contact name between data and model"); |
| 391 |
|
✗ |
if (m_i->active) { |
| 392 |
|
✗ |
switch (m_i->contact->get_type()) { |
| 393 |
|
✗ |
case pinocchio::ReferenceFrame::LOCAL: |
| 394 |
|
✗ |
break; |
| 395 |
|
✗ |
case pinocchio::ReferenceFrame::WORLD: |
| 396 |
|
|
case pinocchio::ReferenceFrame::LOCAL_WORLD_ALIGNED: |
| 397 |
|
✗ |
pinocchio.dtau_dq += d_i->dtau_dq; |
| 398 |
|
✗ |
break; |
| 399 |
|
|
} |
| 400 |
|
|
} |
| 401 |
|
|
} |
| 402 |
|
|
} |
| 403 |
|
|
|
| 404 |
|
|
template <typename Scalar> |
| 405 |
|
|
std::shared_ptr<ContactDataMultipleTpl<Scalar> > |
| 406 |
|
✗ |
ContactModelMultipleTpl<Scalar>::createData( |
| 407 |
|
|
pinocchio::DataTpl<Scalar>* const data) { |
| 408 |
|
|
return std::allocate_shared<ContactDataMultiple>( |
| 409 |
|
✗ |
Eigen::aligned_allocator<ContactDataMultiple>(), this, data); |
| 410 |
|
|
} |
| 411 |
|
|
|
| 412 |
|
|
template <typename Scalar> |
| 413 |
|
|
template <typename NewScalar> |
| 414 |
|
✗ |
ContactModelMultipleTpl<NewScalar> ContactModelMultipleTpl<Scalar>::cast() |
| 415 |
|
|
const { |
| 416 |
|
|
typedef ContactModelMultipleTpl<NewScalar> ReturnType; |
| 417 |
|
|
typedef StateMultibodyTpl<NewScalar> StateType; |
| 418 |
|
|
typedef ContactItemTpl<NewScalar> ContactType; |
| 419 |
|
✗ |
ReturnType ret( |
| 420 |
|
✗ |
std::make_shared<StateType>(state_->template cast<NewScalar>()), nu_); |
| 421 |
|
✗ |
typename ContactModelContainer::const_iterator it_m, end_m; |
| 422 |
|
✗ |
for (it_m = contacts_.begin(), end_m = contacts_.end(); it_m != end_m; |
| 423 |
|
✗ |
++it_m) { |
| 424 |
|
✗ |
const std::string name = it_m->first; |
| 425 |
|
✗ |
const ContactType& m_i = it_m->second->template cast<NewScalar>(); |
| 426 |
|
✗ |
ret.addContact(name, m_i.contact, m_i.active); |
| 427 |
|
|
} |
| 428 |
|
✗ |
return ret; |
| 429 |
|
|
} |
| 430 |
|
|
|
| 431 |
|
|
template <typename Scalar> |
| 432 |
|
|
const std::shared_ptr<StateMultibodyTpl<Scalar> >& |
| 433 |
|
✗ |
ContactModelMultipleTpl<Scalar>::get_state() const { |
| 434 |
|
✗ |
return state_; |
| 435 |
|
|
} |
| 436 |
|
|
|
| 437 |
|
|
template <typename Scalar> |
| 438 |
|
|
const typename ContactModelMultipleTpl<Scalar>::ContactModelContainer& |
| 439 |
|
✗ |
ContactModelMultipleTpl<Scalar>::get_contacts() const { |
| 440 |
|
✗ |
return contacts_; |
| 441 |
|
|
} |
| 442 |
|
|
|
| 443 |
|
|
template <typename Scalar> |
| 444 |
|
✗ |
std::size_t ContactModelMultipleTpl<Scalar>::get_nc() const { |
| 445 |
|
✗ |
return nc_; |
| 446 |
|
|
} |
| 447 |
|
|
|
| 448 |
|
|
template <typename Scalar> |
| 449 |
|
✗ |
std::size_t ContactModelMultipleTpl<Scalar>::get_nc_total() const { |
| 450 |
|
✗ |
return nc_total_; |
| 451 |
|
|
} |
| 452 |
|
|
|
| 453 |
|
|
template <typename Scalar> |
| 454 |
|
✗ |
std::size_t ContactModelMultipleTpl<Scalar>::get_nu() const { |
| 455 |
|
✗ |
return nu_; |
| 456 |
|
|
} |
| 457 |
|
|
|
| 458 |
|
|
template <typename Scalar> |
| 459 |
|
✗ |
const std::set<std::string>& ContactModelMultipleTpl<Scalar>::get_active_set() |
| 460 |
|
|
const { |
| 461 |
|
✗ |
return active_set_; |
| 462 |
|
|
} |
| 463 |
|
|
|
| 464 |
|
|
template <typename Scalar> |
| 465 |
|
✗ |
const std::set<std::string>& ContactModelMultipleTpl<Scalar>::get_inactive_set() |
| 466 |
|
|
const { |
| 467 |
|
✗ |
return inactive_set_; |
| 468 |
|
|
} |
| 469 |
|
|
|
| 470 |
|
|
template <typename Scalar> |
| 471 |
|
✗ |
bool ContactModelMultipleTpl<Scalar>::getContactStatus( |
| 472 |
|
|
const std::string& name) const { |
| 473 |
|
✗ |
typename ContactModelContainer::const_iterator it = contacts_.find(name); |
| 474 |
|
✗ |
if (it != contacts_.end()) { |
| 475 |
|
✗ |
return it->second->active; |
| 476 |
|
|
} else { |
| 477 |
|
|
std::cerr << "Warning: we couldn't get the status of the " << name |
| 478 |
|
✗ |
<< " contact item, it doesn't exist." << std::endl; |
| 479 |
|
✗ |
return false; |
| 480 |
|
|
} |
| 481 |
|
|
} |
| 482 |
|
|
|
| 483 |
|
|
template <typename Scalar> |
| 484 |
|
✗ |
bool ContactModelMultipleTpl<Scalar>::getComputeAllContacts() const { |
| 485 |
|
✗ |
return compute_all_contacts_; |
| 486 |
|
|
} |
| 487 |
|
|
|
| 488 |
|
|
template <typename Scalar> |
| 489 |
|
✗ |
void ContactModelMultipleTpl<Scalar>::setComputeAllContacts(const bool status) { |
| 490 |
|
✗ |
compute_all_contacts_ = status; |
| 491 |
|
|
} |
| 492 |
|
|
|
| 493 |
|
|
template <class Scalar> |
| 494 |
|
✗ |
std::ostream& operator<<(std::ostream& os, |
| 495 |
|
|
const ContactModelMultipleTpl<Scalar>& model) { |
| 496 |
|
✗ |
const auto& active = model.get_active_set(); |
| 497 |
|
✗ |
const auto& inactive = model.get_inactive_set(); |
| 498 |
|
✗ |
os << "ContactModelMultiple:" << std::endl; |
| 499 |
|
✗ |
os << " Active:" << std::endl; |
| 500 |
|
✗ |
for (std::set<std::string>::const_iterator it = active.begin(); |
| 501 |
|
✗ |
it != active.end(); ++it) { |
| 502 |
|
|
const std::shared_ptr< |
| 503 |
|
✗ |
typename ContactModelMultipleTpl<Scalar>::ContactItem>& contact_item = |
| 504 |
|
✗ |
model.get_contacts().find(*it)->second; |
| 505 |
|
✗ |
if (it != --active.end()) { |
| 506 |
|
✗ |
os << " " << *it << ": " << *contact_item << std::endl; |
| 507 |
|
|
} else { |
| 508 |
|
✗ |
os << " " << *it << ": " << *contact_item << std::endl; |
| 509 |
|
|
} |
| 510 |
|
|
} |
| 511 |
|
✗ |
os << " Inactive:" << std::endl; |
| 512 |
|
✗ |
for (std::set<std::string>::const_iterator it = inactive.begin(); |
| 513 |
|
✗ |
it != inactive.end(); ++it) { |
| 514 |
|
|
const std::shared_ptr< |
| 515 |
|
✗ |
typename ContactModelMultipleTpl<Scalar>::ContactItem>& contact_item = |
| 516 |
|
✗ |
model.get_contacts().find(*it)->second; |
| 517 |
|
✗ |
if (it != --inactive.end()) { |
| 518 |
|
✗ |
os << " " << *it << ": " << *contact_item << std::endl; |
| 519 |
|
|
} else { |
| 520 |
|
✗ |
os << " " << *it << ": " << *contact_item; |
| 521 |
|
|
} |
| 522 |
|
|
} |
| 523 |
|
✗ |
return os; |
| 524 |
|
|
} |
| 525 |
|
|
|
| 526 |
|
|
} // namespace crocoddyl |
| 527 |
|
|
|