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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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ImpulseModelMultipleTpl<Scalar>::ImpulseModelMultipleTpl( |
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std::shared_ptr<StateMultibody> state) |
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: state_(state), nc_(0), nc_total_(0) {} |
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template <typename Scalar> |
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ImpulseModelMultipleTpl<Scalar>::~ImpulseModelMultipleTpl() {} |
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template <typename Scalar> |
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void ImpulseModelMultipleTpl<Scalar>::addImpulse( |
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const std::string& name, std::shared_ptr<ImpulseModelAbstract> impulse, |
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const bool active) { |
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std::pair<typename ImpulseModelContainer::iterator, bool> ret = |
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impulses_.insert(std::make_pair( |
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name, std::make_shared<ImpulseItem>(name, impulse, 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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<< " impulse item, it already existed." << std::endl; |
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} else if (active) { |
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nc_ += impulse->get_nc(); |
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nc_total_ += impulse->get_nc(); |
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active_set_.insert(name); |
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} else if (!active) { |
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nc_total_ += impulse->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 ImpulseModelMultipleTpl<Scalar>::removeImpulse(const std::string& name) { |
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typename ImpulseModelContainer::iterator it = impulses_.find(name); |
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if (it != impulses_.end()) { |
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nc_ -= it->second->impulse->get_nc(); |
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nc_total_ -= it->second->impulse->get_nc(); |
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impulses_.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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<< " impulse 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 ImpulseModelMultipleTpl<Scalar>::changeImpulseStatus( |
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const std::string& name, const bool active) { |
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typename ImpulseModelContainer::iterator it = impulses_.find(name); |
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if (it != impulses_.end()) { |
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if (active && !it->second->active) { |
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nc_ += it->second->impulse->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->impulse->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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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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<< " impulse 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 ImpulseModelMultipleTpl<Scalar>::calc( |
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const std::shared_ptr<ImpulseDataMultiple>& data, |
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const Eigen::Ref<const VectorXs>& x) { |
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if (data->impulses.size() != impulses_.size()) { |
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throw_pretty("Invalid argument: " |
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<< "it doesn't match the number of impulse 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 ImpulseModelContainer::iterator it_m, end_m; |
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typename ImpulseDataContainer::iterator it_d, end_d; |
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for (it_m = impulses_.begin(), end_m = impulses_.end(), |
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it_d = data->impulses.begin(), end_d = data->impulses.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<ImpulseItem>& m_i = it_m->second; |
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if (m_i->active) { |
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const std::shared_ptr<ImpulseDataAbstract>& 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 impulse name between model and data (" |
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<< it_m->first << " != " << it_d->first << ")"); |
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m_i->impulse->calc(d_i, x); |
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const std::size_t nc_i = m_i->impulse->get_nc(); |
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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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template <typename Scalar> |
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void ImpulseModelMultipleTpl<Scalar>::calcDiff( |
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const std::shared_ptr<ImpulseDataMultiple>& data, |
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const Eigen::Ref<const VectorXs>& x) { |
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if (data->impulses.size() != impulses_.size()) { |
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throw_pretty("Invalid argument: " |
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<< "it doesn't match the number of impulse 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 ImpulseModelContainer::iterator it_m, end_m; |
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typename ImpulseDataContainer::iterator it_d, end_d; |
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for (it_m = impulses_.begin(), end_m = impulses_.end(), |
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it_d = data->impulses.begin(), end_d = data->impulses.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<ImpulseItem>& m_i = it_m->second; |
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if (m_i->active) { |
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const std::shared_ptr<ImpulseDataAbstract>& 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 impulse name between model and data (" |
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<< it_m->first << " != " << it_d->first << ")"); |
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m_i->impulse->calcDiff(d_i, x); |
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const std::size_t nc_i = m_i->impulse->get_nc(); |
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data->dv0_dq.block(nc, 0, nc_i, nv) = d_i->dv0_dq; |
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nc += nc_i; |
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} |
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} |
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} |
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template <typename Scalar> |
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void ImpulseModelMultipleTpl<Scalar>::updateVelocity( |
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const std::shared_ptr<ImpulseDataMultiple>& data, |
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const VectorXs& vnext) const { |
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if (static_cast<std::size_t>(vnext.size()) != state_->get_nv()) { |
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throw_pretty( |
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"Invalid argument: " << "vnext 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->vnext = vnext; |
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} |
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template <typename Scalar> |
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void ImpulseModelMultipleTpl<Scalar>::updateForce( |
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const std::shared_ptr<ImpulseDataMultiple>& data, const VectorXs& force) { |
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if (static_cast<std::size_t>(force.size()) != nc_) { |
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throw_pretty( |
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"Invalid argument: " << "force has wrong dimension (it should be " + |
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std::to_string(nc_) + ")"); |
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} |
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if (static_cast<std::size_t>(data->impulses.size()) != impulses_.size()) { |
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throw_pretty("Invalid argument: " |
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<< "it doesn't match the number of impulse 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 ImpulseModelContainer::iterator it_m, end_m; |
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typename ImpulseDataContainer::iterator it_d, end_d; |
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for (it_m = impulses_.begin(), end_m = impulses_.end(), |
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it_d = data->impulses.begin(), end_d = data->impulses.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<ImpulseItem>& m_i = it_m->second; |
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const std::shared_ptr<ImpulseDataAbstract>& 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 impulse name between data and model"); |
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if (m_i->active) { |
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const std::size_t nc_i = m_i->impulse->get_nc(); |
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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->impulse->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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nc += nc_i; |
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} else { |
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m_i->impulse->setZeroForce(d_i); |
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} |
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} |
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} |
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template <typename Scalar> |
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void ImpulseModelMultipleTpl<Scalar>::updateVelocityDiff( |
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const std::shared_ptr<ImpulseDataMultiple>& data, |
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const MatrixXs& dvnext_dx) const { |
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if (static_cast<std::size_t>(dvnext_dx.rows()) != state_->get_nv() || |
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static_cast<std::size_t>(dvnext_dx.cols()) != state_->get_ndx()) { |
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throw_pretty( |
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"Invalid argument: " << "dvnext_dx has wrong dimension (it should be " + |
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std::to_string(state_->get_nv()) + "," + |
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std::to_string(state_->get_ndx()) + ")"); |
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} |
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data->dvnext_dx = dvnext_dx; |
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} |
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template <typename Scalar> |
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void ImpulseModelMultipleTpl<Scalar>::updateForceDiff( |
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const std::shared_ptr<ImpulseDataMultiple>& data, |
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const MatrixXs& df_dx) const { |
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const std::size_t ndx = state_->get_ndx(); |
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if (static_cast<std::size_t>(df_dx.rows()) != nc_ || |
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static_cast<std::size_t>(df_dx.cols()) != ndx) { |
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throw_pretty("Invalid argument: " |
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<< "df_dx has wrong dimension (it should be " + |
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std::to_string(nc_) + "," + std::to_string(ndx) + ")"); |
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} |
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if (static_cast<std::size_t>(data->impulses.size()) != impulses_.size()) { |
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throw_pretty("Invalid argument: " |
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<< "it doesn't match the number of impulse datas and models"); |
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} |
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std::size_t nc = 0; |
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typename ImpulseModelContainer::const_iterator it_m, end_m; |
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typename ImpulseDataContainer::const_iterator it_d, end_d; |
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for (it_m = impulses_.begin(), end_m = impulses_.end(), |
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it_d = data->impulses.begin(), end_d = data->impulses.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<ImpulseItem>& m_i = it_m->second; |
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const std::shared_ptr<ImpulseDataAbstract>& 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 impulse name between data and model"); |
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if (m_i->active) { |
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const std::size_t nc_i = m_i->impulse->get_nc(); |
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const Eigen::Block<const MatrixXs> df_dx_i = |
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df_dx.block(nc, 0, nc_i, ndx); |
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m_i->impulse->updateForceDiff(d_i, df_dx_i); |
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nc += nc_i; |
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} else { |
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m_i->impulse->setZeroForceDiff(d_i); |
| 240 |
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} |
| 241 |
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} |
| 242 |
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} |
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| 244 |
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template <typename Scalar> |
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void ImpulseModelMultipleTpl<Scalar>::updateRneaDiff( |
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const std::shared_ptr<ImpulseDataMultiple>& data, |
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pinocchio::DataTpl<Scalar>& pinocchio) const { |
| 248 |
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if (static_cast<std::size_t>(data->impulses.size()) != |
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this->get_impulses().size()) { |
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throw_pretty("Invalid argument: " |
| 251 |
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<< "it doesn't match the number of impulse datas and models"); |
| 252 |
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} |
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typename ImpulseModelContainer::const_iterator it_m, end_m; |
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typename ImpulseDataContainer::const_iterator it_d, end_d; |
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for (it_m = impulses_.begin(), end_m = impulses_.end(), |
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it_d = data->impulses.begin(), end_d = data->impulses.end(); |
| 257 |
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it_m != end_m || it_d != end_d; ++it_m, ++it_d) { |
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const std::shared_ptr<ImpulseItem>& m_i = it_m->second; |
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const std::shared_ptr<ImpulseDataAbstract>& 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 impulse name between data and model"); |
| 262 |
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if (m_i->active) { |
| 263 |
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switch (m_i->impulse->get_type()) { |
| 264 |
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case pinocchio::ReferenceFrame::LOCAL: |
| 265 |
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break; |
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case pinocchio::ReferenceFrame::WORLD: |
| 267 |
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case pinocchio::ReferenceFrame::LOCAL_WORLD_ALIGNED: |
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pinocchio.dtau_dq += d_i->dtau_dq; |
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break; |
| 270 |
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} |
| 271 |
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} |
| 272 |
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} |
| 273 |
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} |
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| 275 |
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template <typename Scalar> |
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std::shared_ptr<ImpulseDataMultipleTpl<Scalar> > |
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✗ |
ImpulseModelMultipleTpl<Scalar>::createData( |
| 278 |
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pinocchio::DataTpl<Scalar>* const data) { |
| 279 |
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return std::allocate_shared<ImpulseDataMultiple>( |
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Eigen::aligned_allocator<ImpulseDataMultiple>(), this, data); |
| 281 |
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} |
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template <typename Scalar> |
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template <typename NewScalar> |
| 285 |
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ImpulseModelMultipleTpl<NewScalar> ImpulseModelMultipleTpl<Scalar>::cast() |
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const { |
| 287 |
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typedef ImpulseModelMultipleTpl<NewScalar> ReturnType; |
| 288 |
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typedef StateMultibodyTpl<NewScalar> StateType; |
| 289 |
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typedef ImpulseItemTpl<NewScalar> ImpulseType; |
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ReturnType ret( |
| 291 |
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std::make_shared<StateType>(state_->template cast<NewScalar>())); |
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typename ImpulseModelContainer::const_iterator it_m, end_m; |
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for (it_m = impulses_.begin(), end_m = impulses_.end(); it_m != end_m; |
| 294 |
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++it_m) { |
| 295 |
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const std::string name = it_m->first; |
| 296 |
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const ImpulseType& m_i = it_m->second->template cast<NewScalar>(); |
| 297 |
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ret.addImpulse(name, m_i.impulse, m_i.active); |
| 298 |
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} |
| 299 |
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✗ |
return ret; |
| 300 |
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} |
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| 302 |
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template <typename Scalar> |
| 303 |
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const std::shared_ptr<StateMultibodyTpl<Scalar> >& |
| 304 |
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✗ |
ImpulseModelMultipleTpl<Scalar>::get_state() const { |
| 305 |
|
✗ |
return state_; |
| 306 |
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} |
| 307 |
|
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|
| 308 |
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template <typename Scalar> |
| 309 |
|
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const typename ImpulseModelMultipleTpl<Scalar>::ImpulseModelContainer& |
| 310 |
|
✗ |
ImpulseModelMultipleTpl<Scalar>::get_impulses() const { |
| 311 |
|
✗ |
return impulses_; |
| 312 |
|
|
} |
| 313 |
|
|
|
| 314 |
|
|
template <typename Scalar> |
| 315 |
|
✗ |
std::size_t ImpulseModelMultipleTpl<Scalar>::get_nc() const { |
| 316 |
|
✗ |
return nc_; |
| 317 |
|
|
} |
| 318 |
|
|
|
| 319 |
|
|
template <typename Scalar> |
| 320 |
|
✗ |
std::size_t ImpulseModelMultipleTpl<Scalar>::get_nc_total() const { |
| 321 |
|
✗ |
return nc_total_; |
| 322 |
|
|
} |
| 323 |
|
|
|
| 324 |
|
|
template <typename Scalar> |
| 325 |
|
✗ |
const std::set<std::string>& ImpulseModelMultipleTpl<Scalar>::get_active_set() |
| 326 |
|
|
const { |
| 327 |
|
✗ |
return active_set_; |
| 328 |
|
|
} |
| 329 |
|
|
|
| 330 |
|
|
template <typename Scalar> |
| 331 |
|
✗ |
const std::set<std::string>& ImpulseModelMultipleTpl<Scalar>::get_inactive_set() |
| 332 |
|
|
const { |
| 333 |
|
✗ |
return inactive_set_; |
| 334 |
|
|
} |
| 335 |
|
|
|
| 336 |
|
|
template <typename Scalar> |
| 337 |
|
✗ |
bool ImpulseModelMultipleTpl<Scalar>::getImpulseStatus( |
| 338 |
|
|
const std::string& name) const { |
| 339 |
|
✗ |
typename ImpulseModelContainer::const_iterator it = impulses_.find(name); |
| 340 |
|
✗ |
if (it != impulses_.end()) { |
| 341 |
|
✗ |
return it->second->active; |
| 342 |
|
|
} else { |
| 343 |
|
|
std::cerr << "Warning: we couldn't get the status of the " << name |
| 344 |
|
✗ |
<< " impulse item, it doesn't exist." << std::endl; |
| 345 |
|
✗ |
return false; |
| 346 |
|
|
} |
| 347 |
|
|
} |
| 348 |
|
|
|
| 349 |
|
|
template <class Scalar> |
| 350 |
|
✗ |
std::ostream& operator<<(std::ostream& os, |
| 351 |
|
|
const ImpulseModelMultipleTpl<Scalar>& model) { |
| 352 |
|
✗ |
const auto& active = model.get_active_set(); |
| 353 |
|
✗ |
const auto& inactive = model.get_inactive_set(); |
| 354 |
|
✗ |
os << "ImpulseModelMultiple:" << std::endl; |
| 355 |
|
✗ |
os << " Active:" << std::endl; |
| 356 |
|
✗ |
for (std::set<std::string>::const_iterator it = active.begin(); |
| 357 |
|
✗ |
it != active.end(); ++it) { |
| 358 |
|
|
const std::shared_ptr< |
| 359 |
|
✗ |
typename ImpulseModelMultipleTpl<Scalar>::ImpulseItem>& impulse_item = |
| 360 |
|
✗ |
model.get_impulses().find(*it)->second; |
| 361 |
|
✗ |
if (it != --active.end()) { |
| 362 |
|
✗ |
os << " " << *it << ": " << *impulse_item << std::endl; |
| 363 |
|
|
} else { |
| 364 |
|
✗ |
os << " " << *it << ": " << *impulse_item << std::endl; |
| 365 |
|
|
} |
| 366 |
|
|
} |
| 367 |
|
✗ |
os << " Inactive:" << std::endl; |
| 368 |
|
✗ |
for (std::set<std::string>::const_iterator it = inactive.begin(); |
| 369 |
|
✗ |
it != inactive.end(); ++it) { |
| 370 |
|
|
const std::shared_ptr< |
| 371 |
|
✗ |
typename ImpulseModelMultipleTpl<Scalar>::ImpulseItem>& impulse_item = |
| 372 |
|
✗ |
model.get_impulses().find(*it)->second; |
| 373 |
|
✗ |
if (it != --inactive.end()) { |
| 374 |
|
✗ |
os << " " << *it << ": " << *impulse_item << std::endl; |
| 375 |
|
|
} else { |
| 376 |
|
✗ |
os << " " << *it << ": " << *impulse_item; |
| 377 |
|
|
} |
| 378 |
|
|
} |
| 379 |
|
✗ |
return os; |
| 380 |
|
|
} |
| 381 |
|
|
|
| 382 |
|
|
} // namespace crocoddyl |
| 383 |
|
|
|