| Directory: | ./ |
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| File: | include/crocoddyl/multibody/residuals/pair-collision.hpp |
| Date: | 2025-01-16 08:47:40 |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2021-2022, LAAS-CNRS, University of Edinburgh, INRIA | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #ifndef CROCODDYL_MULTIBODY_RESIDUALS_PAIR_COLLISION_HPP_ | ||
| 10 | #define CROCODDYL_MULTIBODY_RESIDUALS_PAIR_COLLISION_HPP_ | ||
| 11 | |||
| 12 | #ifdef PINOCCHIO_WITH_HPP_FCL | ||
| 13 | |||
| 14 | #include <pinocchio/multibody/geometry.hpp> | ||
| 15 | |||
| 16 | #include "crocoddyl/core/residual-base.hpp" | ||
| 17 | #include "crocoddyl/multibody/data/multibody.hpp" | ||
| 18 | #include "crocoddyl/multibody/states/multibody.hpp" | ||
| 19 | |||
| 20 | namespace crocoddyl { | ||
| 21 | |||
| 22 | /** | ||
| 23 | * @brief Pair collision residual | ||
| 24 | * | ||
| 25 | * This residual function defines the euclidean distance between a geometric | ||
| 26 | * collision pair as \f$\mathbf{r}=\mathbf{p}_1-\mathbf{p}_2^*\f$, where | ||
| 27 | * \f$\mathbf{p}_1,\mathbf{p}_2^*\in~\mathbb{R}^3\f$ are the nearest points on | ||
| 28 | * each collision object with respect to the other object. One of the objects is | ||
| 29 | * a body frame of the robot, the other is an external object. Note that for the | ||
| 30 | * sake of fast computation, it is easier to define the collision objects as | ||
| 31 | * inflated capsules. Note also that the dimension of the residual vector is | ||
| 32 | * obtained from 3. Furthermore, the Jacobians of the residual function are | ||
| 33 | * computed analytically. | ||
| 34 | * | ||
| 35 | * As described in `ResidualModelAbstractTpl()`, the residual value and its | ||
| 36 | * Jacobians are calculated by `calc` and `calcDiff`, respectively. | ||
| 37 | * | ||
| 38 | * \sa `ResidualModelAbstractTpl`, `calc()`, `calcDiff()`, `createData()` | ||
| 39 | */ | ||
| 40 | template <typename _Scalar> | ||
| 41 | class ResidualModelPairCollisionTpl : public ResidualModelAbstractTpl<_Scalar> { | ||
| 42 | public: | ||
| 43 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 44 | |||
| 45 | typedef _Scalar Scalar; | ||
| 46 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 47 | typedef ResidualModelAbstractTpl<Scalar> Base; | ||
| 48 | typedef ResidualDataPairCollisionTpl<Scalar> Data; | ||
| 49 | typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract; | ||
| 50 | typedef StateMultibodyTpl<Scalar> StateMultibody; | ||
| 51 | typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; | ||
| 52 | typedef pinocchio::GeometryModel GeometryModel; | ||
| 53 | |||
| 54 | typedef typename MathBase::VectorXs VectorXs; | ||
| 55 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 56 | |||
| 57 | /** | ||
| 58 | * @brief Initialize the pair collision residual model | ||
| 59 | * | ||
| 60 | * @param[in] state State of the multibody system | ||
| 61 | * @param[in] nu Dimension of the control vector | ||
| 62 | * @param[in] geom_model Pinocchio geometry model containing the collision | ||
| 63 | * pair | ||
| 64 | * @param[in] pair_id Index of the collision pair in the geometry model | ||
| 65 | * @param[in] joint_id Index of the nearest joint on which the collision | ||
| 66 | * link is attached | ||
| 67 | */ | ||
| 68 | ResidualModelPairCollisionTpl(boost::shared_ptr<StateMultibody> state, | ||
| 69 | const std::size_t nu, | ||
| 70 | boost::shared_ptr<GeometryModel> geom_model, | ||
| 71 | const pinocchio::PairIndex pair_id, | ||
| 72 | const pinocchio::JointIndex joint_id); | ||
| 73 | |||
| 74 | virtual ~ResidualModelPairCollisionTpl(); | ||
| 75 | |||
| 76 | /** | ||
| 77 | * @brief Compute the pair collision residual | ||
| 78 | * | ||
| 79 | * @param[in] data Pair collision residual data | ||
| 80 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 81 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 82 | */ | ||
| 83 | virtual void calc(const boost::shared_ptr<ResidualDataAbstract> &data, | ||
| 84 | const Eigen::Ref<const VectorXs> &x, | ||
| 85 | const Eigen::Ref<const VectorXs> &u); | ||
| 86 | |||
| 87 | /** | ||
| 88 | * @brief Compute the derivatives of the pair collision residual | ||
| 89 | * | ||
| 90 | * @param[in] data Pair collision residual data | ||
| 91 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 92 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 93 | */ | ||
| 94 | virtual void calcDiff(const boost::shared_ptr<ResidualDataAbstract> &data, | ||
| 95 | const Eigen::Ref<const VectorXs> &x, | ||
| 96 | const Eigen::Ref<const VectorXs> &u); | ||
| 97 | |||
| 98 | virtual boost::shared_ptr<ResidualDataAbstract> createData( | ||
| 99 | DataCollectorAbstract *const data); | ||
| 100 | |||
| 101 | /** | ||
| 102 | * @brief Return the Pinocchio geometry model | ||
| 103 | */ | ||
| 104 | const pinocchio::GeometryModel &get_geometry() const; | ||
| 105 | |||
| 106 | /** | ||
| 107 | * @brief Return the reference collision pair id | ||
| 108 | */ | ||
| 109 | pinocchio::PairIndex get_pair_id() const; | ||
| 110 | |||
| 111 | /** | ||
| 112 | * @brief Modify the reference collision pair id | ||
| 113 | */ | ||
| 114 | void set_pair_id(const pinocchio::PairIndex pair_id); | ||
| 115 | |||
| 116 | protected: | ||
| 117 | using Base::nu_; | ||
| 118 | using Base::state_; | ||
| 119 | using Base::v_dependent_; | ||
| 120 | |||
| 121 | private: | ||
| 122 | typename StateMultibody::PinocchioModel | ||
| 123 | pin_model_; //!< Pinocchio model used for internal computations | ||
| 124 | boost::shared_ptr<pinocchio::GeometryModel> | ||
| 125 | geom_model_; //!< Pinocchio geometry model containing collision pair | ||
| 126 | pinocchio::PairIndex | ||
| 127 | pair_id_; //!< Index of the collision pair in geometry model | ||
| 128 | pinocchio::JointIndex joint_id_; //!< Index of joint on which the collision | ||
| 129 | //!< body frame of the robot is attached | ||
| 130 | }; | ||
| 131 | |||
| 132 | template <typename _Scalar> | ||
| 133 | struct ResidualDataPairCollisionTpl : public ResidualDataAbstractTpl<_Scalar> { | ||
| 134 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 135 | |||
| 136 | typedef _Scalar Scalar; | ||
| 137 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 138 | typedef ResidualDataAbstractTpl<Scalar> Base; | ||
| 139 | typedef StateMultibodyTpl<Scalar> StateMultibody; | ||
| 140 | typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; | ||
| 141 | |||
| 142 | typedef typename MathBase::Matrix6xs Matrix6xs; | ||
| 143 | typedef typename MathBase::Vector3s Vector3s; | ||
| 144 | |||
| 145 | template <template <typename Scalar> class Model> | ||
| 146 | 2716 | ResidualDataPairCollisionTpl(Model<Scalar> *const model, | |
| 147 | DataCollectorAbstract *const data) | ||
| 148 | : Base(model, data), | ||
| 149 |
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2716 | geometry(pinocchio::GeometryData(model->get_geometry())), |
| 150 |
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5432 | J(6, model->get_state()->get_nv()) { |
| 151 |
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2716 | d.setZero(); |
| 152 |
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2716 | J.setZero(); |
| 153 | // Check that proper shared data has been passed | ||
| 154 | 2716 | DataCollectorMultibodyTpl<Scalar> *d = | |
| 155 |
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2716 | dynamic_cast<DataCollectorMultibodyTpl<Scalar> *>(shared); |
| 156 |
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2716 | if (d == NULL) { |
| 157 | ✗ | throw_pretty( | |
| 158 | "Invalid argument: the shared data should be derived from " | ||
| 159 | "DataCollectorActMultibodyTpl"); | ||
| 160 | } | ||
| 161 | // Avoids data casting at runtime | ||
| 162 | 2716 | pinocchio = d->pinocchio; | |
| 163 | 2716 | } | |
| 164 | pinocchio::GeometryData geometry; //!< Pinocchio geometry data | ||
| 165 | pinocchio::DataTpl<Scalar> *pinocchio; //!< Pinocchio data | ||
| 166 | Matrix6xs J; //!< Jacobian at the collision joint | ||
| 167 | Vector3s d; //!< Vector from joint point to collision point in world frame | ||
| 168 | using Base::r; | ||
| 169 | using Base::Ru; | ||
| 170 | using Base::Rx; | ||
| 171 | using Base::shared; | ||
| 172 | }; | ||
| 173 | |||
| 174 | } // namespace crocoddyl | ||
| 175 | |||
| 176 | /* --- Details -------------------------------------------------------------- */ | ||
| 177 | /* --- Details -------------------------------------------------------------- */ | ||
| 178 | /* --- Details -------------------------------------------------------------- */ | ||
| 179 | #include "crocoddyl/multibody/residuals/pair-collision.hxx" | ||
| 180 | |||
| 181 | #endif // PINOCCHIO_WITH_HPP_FCL | ||
| 182 | |||
| 183 | #endif // CROCODDYL_MULTIBODY_RESIDUALS_PAIR_COLLISION_HPP_ | ||
| 184 |