| Directory: | ./ |
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| File: | include/crocoddyl/multibody/impulses/multiple-impulses.hpp |
| Date: | 2025-01-16 08:47:40 |
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| Branches: | 15 | 28 | 53.6% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2023, 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_IMPULSES_MULTIPLE_IMPULSES_HPP_ | ||
| 11 | #define CROCODDYL_MULTIBODY_IMPULSES_MULTIPLE_IMPULSES_HPP_ | ||
| 12 | |||
| 13 | #include <map> | ||
| 14 | #include <set> | ||
| 15 | #include <string> | ||
| 16 | #include <utility> | ||
| 17 | |||
| 18 | #include "crocoddyl/core/utils/exception.hpp" | ||
| 19 | #include "crocoddyl/multibody/fwd.hpp" | ||
| 20 | #include "crocoddyl/multibody/impulse-base.hpp" | ||
| 21 | |||
| 22 | namespace crocoddyl { | ||
| 23 | |||
| 24 | template <typename _Scalar> | ||
| 25 | struct ImpulseItemTpl { | ||
| 26 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 27 | |||
| 28 | typedef _Scalar Scalar; | ||
| 29 | typedef ImpulseModelAbstractTpl<Scalar> ImpulseModelAbstract; | ||
| 30 | |||
| 31 | ImpulseItemTpl() {} | ||
| 32 | 266 | ImpulseItemTpl(const std::string& name, | |
| 33 | boost::shared_ptr<ImpulseModelAbstract> impulse, | ||
| 34 | const bool active = true) | ||
| 35 | 266 | : name(name), impulse(impulse), active(active) {} | |
| 36 | |||
| 37 | /** | ||
| 38 | * @brief Print information on the impulse item | ||
| 39 | */ | ||
| 40 | ✗ | friend std::ostream& operator<<(std::ostream& os, | |
| 41 | const ImpulseItemTpl<Scalar>& model) { | ||
| 42 | ✗ | os << "{" << *model.impulse << "}"; | |
| 43 | ✗ | return os; | |
| 44 | } | ||
| 45 | |||
| 46 | std::string name; | ||
| 47 | boost::shared_ptr<ImpulseModelAbstract> impulse; | ||
| 48 | bool active; | ||
| 49 | }; | ||
| 50 | |||
| 51 | /** | ||
| 52 | * @brief Define a stack of impulse models | ||
| 53 | * | ||
| 54 | * The impulse models can be defined with active and inactive status. The idea | ||
| 55 | * behind this design choice is to be able to create a mechanism that allocates | ||
| 56 | * the entire data needed for the computations. Then, there are designed | ||
| 57 | * routines that update the only active impulse. | ||
| 58 | */ | ||
| 59 | template <typename _Scalar> | ||
| 60 | class ImpulseModelMultipleTpl { | ||
| 61 | public: | ||
| 62 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 63 | |||
| 64 | typedef _Scalar Scalar; | ||
| 65 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 66 | typedef StateMultibodyTpl<Scalar> StateMultibody; | ||
| 67 | typedef ImpulseDataAbstractTpl<Scalar> ImpulseDataAbstract; | ||
| 68 | typedef ImpulseDataMultipleTpl<Scalar> ImpulseDataMultiple; | ||
| 69 | typedef ImpulseModelAbstractTpl<Scalar> ImpulseModelAbstract; | ||
| 70 | |||
| 71 | typedef ImpulseItemTpl<Scalar> ImpulseItem; | ||
| 72 | |||
| 73 | typedef typename MathBase::Vector2s Vector2s; | ||
| 74 | typedef typename MathBase::Vector3s Vector3s; | ||
| 75 | typedef typename MathBase::VectorXs VectorXs; | ||
| 76 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 77 | |||
| 78 | typedef std::map<std::string, boost::shared_ptr<ImpulseItem> > | ||
| 79 | ImpulseModelContainer; | ||
| 80 | typedef std::map<std::string, boost::shared_ptr<ImpulseDataAbstract> > | ||
| 81 | ImpulseDataContainer; | ||
| 82 | typedef typename pinocchio::container::aligned_vector< | ||
| 83 | pinocchio::ForceTpl<Scalar> >::iterator ForceIterator; | ||
| 84 | |||
| 85 | /** | ||
| 86 | * @brief Initialize the multi-impulse model | ||
| 87 | * | ||
| 88 | * @param[in] state Multibody state | ||
| 89 | */ | ||
| 90 | explicit ImpulseModelMultipleTpl(boost::shared_ptr<StateMultibody> state); | ||
| 91 | ~ImpulseModelMultipleTpl(); | ||
| 92 | |||
| 93 | /** | ||
| 94 | * @brief Add impulse item | ||
| 95 | * | ||
| 96 | * Note that the memory is allocated for inactive impulses as well. | ||
| 97 | * | ||
| 98 | * @param[in] name Impulse name | ||
| 99 | * @param[in] impulse Impulse model | ||
| 100 | * @param[in] active Impulse status (active by default) | ||
| 101 | */ | ||
| 102 | void addImpulse(const std::string& name, | ||
| 103 | boost::shared_ptr<ImpulseModelAbstract> impulse, | ||
| 104 | const bool active = true); | ||
| 105 | |||
| 106 | /** | ||
| 107 | * @brief Remove impulse item | ||
| 108 | * | ||
| 109 | * @param[in] name Impulse name | ||
| 110 | */ | ||
| 111 | void removeImpulse(const std::string& name); | ||
| 112 | |||
| 113 | /** | ||
| 114 | * @brief Change the impulse status | ||
| 115 | * | ||
| 116 | * @param[in] name Impulse name | ||
| 117 | * @param[in] active Impulse status (True for active) | ||
| 118 | */ | ||
| 119 | void changeImpulseStatus(const std::string& name, const bool active); | ||
| 120 | |||
| 121 | /** | ||
| 122 | * @brief Compute the total impulse Jacobian and impulse velocity | ||
| 123 | * | ||
| 124 | * @param[in] data Multi-impulse data | ||
| 125 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 126 | */ | ||
| 127 | void calc(const boost::shared_ptr<ImpulseDataMultiple>& data, | ||
| 128 | const Eigen::Ref<const VectorXs>& x); | ||
| 129 | |||
| 130 | /** | ||
| 131 | * @brief Compute the derivatives of the impulse holonomic constraint | ||
| 132 | * | ||
| 133 | * @param[in] data Multi-impulse data | ||
| 134 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 135 | */ | ||
| 136 | void calcDiff(const boost::shared_ptr<ImpulseDataMultiple>& data, | ||
| 137 | const Eigen::Ref<const VectorXs>& x); | ||
| 138 | |||
| 139 | /** | ||
| 140 | * @brief Update the system velocity after impulse | ||
| 141 | * | ||
| 142 | * @param[in] data Multi-impulse data | ||
| 143 | * @param[in] vnext System velocity after impulse | ||
| 144 | * \f$\mathbf{v}'\in\mathbb{R}^{nv}\f$ | ||
| 145 | */ | ||
| 146 | void updateVelocity(const boost::shared_ptr<ImpulseDataMultiple>& data, | ||
| 147 | const VectorXs& vnext) const; | ||
| 148 | |||
| 149 | /** | ||
| 150 | * @brief Update the spatial impulse defined in frame coordinate | ||
| 151 | * | ||
| 152 | * @param[in] data Multi-impulse data | ||
| 153 | * @param[in] impulse Spatial impulse defined in frame coordinate | ||
| 154 | * \f${}^o\underline{\boldsymbol{\Lambda}}_c\in\mathbb{R}^{nc}\f$ | ||
| 155 | */ | ||
| 156 | void updateForce(const boost::shared_ptr<ImpulseDataMultiple>& data, | ||
| 157 | const VectorXs& impulse); | ||
| 158 | |||
| 159 | /** | ||
| 160 | * @brief Update the Jacobian of the system velocity after impulse | ||
| 161 | * | ||
| 162 | * @param[in] data Multi-impulse data | ||
| 163 | * @param[in] dvnext_dx Jacobian of the system velocity after impact in | ||
| 164 | * generalized coordinates | ||
| 165 | * \f$\frac{\partial\dot{\mathbf{v}'}}{\partial\mathbf{x}}\in\mathbb{R}^{nv\times{ndx}}\f$ | ||
| 166 | */ | ||
| 167 | void updateVelocityDiff(const boost::shared_ptr<ImpulseDataMultiple>& data, | ||
| 168 | const MatrixXs& dvnext_dx) const; | ||
| 169 | |||
| 170 | /** | ||
| 171 | * @brief Update the Jacobian of the spatial impulse defined in frame | ||
| 172 | * coordinate | ||
| 173 | * | ||
| 174 | * @param[in] data Multi-contact data | ||
| 175 | * @param[in] df_dx Jacobian of the spatial impulse defined in frame | ||
| 176 | * coordinate | ||
| 177 | * \f$\frac{\partial{}^o\underline{\boldsymbol{\Lambda}}_c}{\partial\mathbf{x}}\in\mathbb{R}^{nc\times{ndx}}\f$ | ||
| 178 | */ | ||
| 179 | void updateForceDiff(const boost::shared_ptr<ImpulseDataMultiple>& data, | ||
| 180 | const MatrixXs& df_dx) const; | ||
| 181 | |||
| 182 | /** | ||
| 183 | * @brief Update the RNEA derivatives dtau_dq by adding the skew term | ||
| 184 | * (necessary for impulses expressed in LOCAL_WORLD_ALIGNED / WORLD) | ||
| 185 | * @brief as explained in this document : | ||
| 186 | * https://www.overleaf.com/read/tzvrrxxtntwk | ||
| 187 | * | ||
| 188 | * @param[in] data Multi-contact data | ||
| 189 | * @param[in] pinocchio Pinocchio data | ||
| 190 | */ | ||
| 191 | void updateRneaDiff(const boost::shared_ptr<ImpulseDataMultiple>& data, | ||
| 192 | pinocchio::DataTpl<Scalar>& pinocchio) const; | ||
| 193 | |||
| 194 | /** | ||
| 195 | * @brief Create the multi-impulse data | ||
| 196 | * | ||
| 197 | * @param[in] data Pinocchio data | ||
| 198 | * @return the multi-impulse data. | ||
| 199 | */ | ||
| 200 | boost::shared_ptr<ImpulseDataMultiple> createData( | ||
| 201 | pinocchio::DataTpl<Scalar>* const data); | ||
| 202 | |||
| 203 | /** | ||
| 204 | * @brief Return the multibody state | ||
| 205 | */ | ||
| 206 | const boost::shared_ptr<StateMultibody>& get_state() const; | ||
| 207 | |||
| 208 | /** | ||
| 209 | * @brief Return the impulse models | ||
| 210 | */ | ||
| 211 | const ImpulseModelContainer& get_impulses() const; | ||
| 212 | |||
| 213 | /** | ||
| 214 | * @brief Return the dimension of active impulses | ||
| 215 | */ | ||
| 216 | std::size_t get_nc() const; | ||
| 217 | |||
| 218 | /** | ||
| 219 | * @brief Return the dimension of all impulses | ||
| 220 | */ | ||
| 221 | std::size_t get_nc_total() const; | ||
| 222 | |||
| 223 | /** | ||
| 224 | * @brief Return the names of the set of active impulses | ||
| 225 | */ | ||
| 226 | const std::set<std::string>& get_active_set() const; | ||
| 227 | |||
| 228 | /** | ||
| 229 | * @brief Return the names of the set of inactive impulses | ||
| 230 | */ | ||
| 231 | const std::set<std::string>& get_inactive_set() const; | ||
| 232 | |||
| 233 | /** | ||
| 234 | * @brief Return the status of a given impulse name | ||
| 235 | */ | ||
| 236 | bool getImpulseStatus(const std::string& name) const; | ||
| 237 | |||
| 238 | /** | ||
| 239 | * @brief Print information on the impulse models | ||
| 240 | */ | ||
| 241 | template <class Scalar> | ||
| 242 | friend std::ostream& operator<<(std::ostream& os, | ||
| 243 | const ImpulseModelMultipleTpl<Scalar>& model); | ||
| 244 | |||
| 245 | private: | ||
| 246 | boost::shared_ptr<StateMultibody> state_; | ||
| 247 | ImpulseModelContainer impulses_; | ||
| 248 | std::size_t nc_; | ||
| 249 | std::size_t nc_total_; | ||
| 250 | std::set<std::string> active_set_; | ||
| 251 | std::set<std::string> inactive_set_; | ||
| 252 | }; | ||
| 253 | |||
| 254 | /** | ||
| 255 | * @brief Define the multi-impulse data | ||
| 256 | * | ||
| 257 | * \sa ImpulseModelMultipleTpl | ||
| 258 | */ | ||
| 259 | template <typename _Scalar> | ||
| 260 | struct ImpulseDataMultipleTpl { | ||
| 261 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 262 | |||
| 263 | typedef _Scalar Scalar; | ||
| 264 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 265 | typedef ImpulseModelMultipleTpl<Scalar> ImpulseModelMultiple; | ||
| 266 | typedef ImpulseItemTpl<Scalar> ImpulseItem; | ||
| 267 | typedef typename MathBase::VectorXs VectorXs; | ||
| 268 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 269 | |||
| 270 | /** | ||
| 271 | * @brief Initialized a multi-impulse data | ||
| 272 | * | ||
| 273 | * @param[in] model Multi-impulse model | ||
| 274 | * @param[in] data Pinocchio data | ||
| 275 | */ | ||
| 276 | template <template <typename Scalar> class Model> | ||
| 277 | 4270 | ImpulseDataMultipleTpl(Model<Scalar>* const model, | |
| 278 | pinocchio::DataTpl<Scalar>* const data) | ||
| 279 |
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4270 | : Jc(model->get_nc_total(), model->get_state()->get_nv()), |
| 280 |
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4270 | dv0_dq(model->get_nc_total(), model->get_state()->get_nv()), |
| 281 |
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4270 | vnext(model->get_state()->get_nv()), |
| 282 |
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4270 | dvnext_dx(model->get_state()->get_nv(), model->get_state()->get_ndx()), |
| 283 |
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4270 | fext(model->get_state()->get_pinocchio()->njoints, |
| 284 | 4270 | pinocchio::ForceTpl<Scalar>::Zero()) { | |
| 285 |
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4270 | Jc.setZero(); |
| 286 |
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4270 | dv0_dq.setZero(); |
| 287 |
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4270 | vnext.setZero(); |
| 288 |
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4270 | dvnext_dx.setZero(); |
| 289 | 4270 | for (typename ImpulseModelMultiple::ImpulseModelContainer::const_iterator | |
| 290 | 4270 | it = model->get_impulses().begin(); | |
| 291 |
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14501 | it != model->get_impulses().end(); ++it) { |
| 292 | 10231 | const boost::shared_ptr<ImpulseItem>& item = it->second; | |
| 293 |
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10231 | impulses.insert( |
| 294 |
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10231 | std::make_pair(item->name, item->impulse->createData(data))); |
| 295 | } | ||
| 296 | 4270 | } | |
| 297 | |||
| 298 | MatrixXs Jc; //!< Contact Jacobian in frame coordinate | ||
| 299 | //!< \f$\mathbf{J}_c\in\mathbb{R}^{ni_{total}\times{nv}}\f$ | ||
| 300 | //!< (memory defined for active and inactive impulses) | ||
| 301 | MatrixXs | ||
| 302 | dv0_dq; //!< Jacobian of the desired spatial contact acceleration in | ||
| 303 | //!< frame coordinate | ||
| 304 | //!< \f$\frac{\partial\underline{\mathbf{v}}_0}{\partial\mathbf{q}}\in\mathbb{R}^{ni_{total}\times{nv}}\f$ | ||
| 305 | //!< (memory defined for active and inactive impulse) | ||
| 306 | VectorXs vnext; //!< Constrained system velocity after impact in generalized | ||
| 307 | //!< coordinates \f$\dot{\mathbf{v}'}\in\mathbb{R}^{nv}\f$ | ||
| 308 | MatrixXs | ||
| 309 | dvnext_dx; //!< Jacobian of the system velocity after impact in | ||
| 310 | //!< generalized coordinates | ||
| 311 | //!< \f$\frac{\partial\dot{\mathbf{v}'}}{\partial\mathbf{x}}\in\mathbb{R}^{nv\times | ||
| 312 | //!< ndx}\f$ | ||
| 313 | typename ImpulseModelMultiple::ImpulseDataContainer | ||
| 314 | impulses; //!< Stack of impulse data | ||
| 315 | pinocchio::container::aligned_vector<pinocchio::ForceTpl<Scalar> > | ||
| 316 | fext; //!< External spatial forces in body coordinates | ||
| 317 | }; | ||
| 318 | |||
| 319 | } // namespace crocoddyl | ||
| 320 | |||
| 321 | /* --- Details -------------------------------------------------------------- */ | ||
| 322 | /* --- Details -------------------------------------------------------------- */ | ||
| 323 | /* --- Details -------------------------------------------------------------- */ | ||
| 324 | #include "crocoddyl/multibody/impulses/multiple-impulses.hxx" | ||
| 325 | |||
| 326 | #endif // CROCODDYL_MULTIBODY_IMPULSES_MULTIPLE_IMPULSES_HPP_ | ||
| 327 |