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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2020-2025, University of Edinburgh, University of Oxford, |
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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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WrenchConeTpl<Scalar>::WrenchConeTpl(const Matrix3s& R, const Scalar mu, |
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const Vector2s& box, const std::size_t nf, |
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const bool inner_appr, |
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const Scalar min_nforce, |
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const Scalar max_nforce) |
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: nf_(nf), |
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R_(R), |
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box_(box), |
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mu_(mu), |
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inner_appr_(inner_appr), |
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min_nforce_(min_nforce), |
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max_nforce_(max_nforce) { |
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if (nf_ % 2 != 0) { |
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nf_ = 4; |
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std::cerr << "Warning: nf has to be an even number, set to 4" << std::endl; |
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} |
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if (mu < Scalar(0.)) { |
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mu_ = Scalar(1.); |
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std::cerr << "Warning: mu has to be a positive value, set to 1." |
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<< std::endl; |
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} |
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if (min_nforce < Scalar(0.)) { |
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min_nforce_ = Scalar(0.); |
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std::cerr << "Warning: min_nforce has to be a positive value, set to 0" |
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<< std::endl; |
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} |
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if (max_nforce < Scalar(0.)) { |
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max_nforce_ = std::numeric_limits<Scalar>::infinity(); |
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std::cerr << "Warning: max_nforce has to be a positive value, set to " |
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"infinity value" |
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<< std::endl; |
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} |
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A_ = MatrixX6s::Zero(nf_ + 13, 6); |
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ub_ = VectorXs::Zero(nf_ + 13); |
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lb_ = VectorXs::Zero(nf_ + 13); |
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// Update the inequality matrix and bounds |
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update(); |
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} |
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template <typename Scalar> |
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WrenchConeTpl<Scalar>::WrenchConeTpl(const Matrix3s& R, const Scalar mu, |
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const Vector2s& box, std::size_t nf, |
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const Scalar min_nforce, |
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const Scalar max_nforce) |
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: nf_(nf), |
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R_(R), |
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box_(box), |
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mu_(mu), |
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inner_appr_(true), |
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min_nforce_(min_nforce), |
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max_nforce_(max_nforce) { |
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if (nf_ % 2 != 0) { |
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nf_ = 4; |
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std::cerr << "Warning: nf has to be an even number, set to 4" << std::endl; |
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} |
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if (mu < Scalar(0.)) { |
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mu_ = Scalar(1.); |
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std::cerr << "Warning: mu has to be a positive value, set to 1." |
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<< std::endl; |
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} |
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if (min_nforce < Scalar(0.)) { |
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min_nforce_ = Scalar(0.); |
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std::cerr << "Warning: min_nforce has to be a positive value, set to 0" |
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<< std::endl; |
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} |
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if (max_nforce < Scalar(0.)) { |
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max_nforce_ = std::numeric_limits<Scalar>::infinity(); |
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std::cerr << "Warning: max_nforce has to be a positive value, set to " |
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"infinity value" |
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<< std::endl; |
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} |
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A_ = MatrixX6s::Zero(nf_ + 13, 6); |
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ub_ = VectorXs::Zero(nf_ + 13); |
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lb_ = VectorXs::Zero(nf_ + 13); |
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// Update the inequality matrix and bounds |
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update(); |
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} |
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template <typename Scalar> |
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WrenchConeTpl<Scalar>::WrenchConeTpl(const WrenchConeTpl<Scalar>& cone) |
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: nf_(cone.get_nf()), |
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A_(cone.get_A()), |
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ub_(cone.get_ub()), |
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lb_(cone.get_lb()), |
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R_(cone.get_R()), |
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box_(cone.get_box()), |
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mu_(cone.get_mu()), |
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inner_appr_(cone.get_inner_appr()), |
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min_nforce_(cone.get_min_nforce()), |
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max_nforce_(cone.get_max_nforce()) {} |
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template <typename Scalar> |
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WrenchConeTpl<Scalar>::WrenchConeTpl() |
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: nf_(4), |
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A_(nf_ + 13, 6), |
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ub_(nf_ + 13), |
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lb_(nf_ + 13), |
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R_(Matrix3s::Identity()), |
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box_(std::numeric_limits<Scalar>::infinity(), |
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std::numeric_limits<Scalar>::infinity()), |
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mu_(Scalar(0.7)), |
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inner_appr_(true), |
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min_nforce_(Scalar(0.)), |
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max_nforce_(std::numeric_limits<Scalar>::infinity()) { |
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A_.setZero(); |
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ub_.setZero(); |
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lb_.setZero(); |
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// Update the inequality matrix and bounds |
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update(); |
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} |
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template <typename Scalar> |
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WrenchConeTpl<Scalar>::~WrenchConeTpl() {} |
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template <typename Scalar> |
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void WrenchConeTpl<Scalar>::update() { |
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// Initialize the matrix and bounds |
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A_.setZero(); |
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ub_.setZero(); |
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lb_.setOnes(); |
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lb_ *= -std::numeric_limits<Scalar>::infinity(); |
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// Compute the mu given the type of friction cone approximation |
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Scalar mu = mu_; |
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Scalar theta = |
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static_cast<Scalar>(2.0) * pi<Scalar>() / static_cast<Scalar>(nf_); |
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if (inner_appr_) { |
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mu *= cos(theta * Scalar(0.5)); |
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} |
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// Create a temporary object for computation |
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Matrix3s R_transpose = R_.transpose(); |
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// There are blocks of the A matrix that are repeated. By separating it this |
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// way, we can reduced computation. |
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Eigen::Block<MatrixX6s, Eigen::Dynamic, 3, true> A_left = |
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A_.template leftCols<3>(); |
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Eigen::Block<MatrixX6s, Eigen::Dynamic, 3, true> A_right = |
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A_.template rightCols<3>(); |
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// Friction cone information |
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// This segment of matrix is defined as |
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// [ 1 0 -mu 0 0 0; |
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// -1 0 -mu 0 0 0; |
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// 0 1 -mu 0 0 0; |
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// 0 -1 -mu 0 0 0; |
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// 0 0 1 0 0 0] |
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Vector3s mu_nsurf = |
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-mu * Vector3s::UnitZ(); // We can pull this out because it's reused. |
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std::size_t row = 0; |
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for (std::size_t i = 0; i < nf_ / 2; ++i) { |
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Scalar theta_i = theta * static_cast<Scalar>(i); |
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Vector3s tsurf_i = Vector3s(cos(theta_i), sin(theta_i), Scalar(0.)); |
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A_.row(row++).template head<3>() = |
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(mu_nsurf + tsurf_i).transpose() * R_transpose; |
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A_.row(row++).template head<3>() = |
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(mu_nsurf - tsurf_i).transpose() * R_transpose; |
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} |
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A_.row(nf_).template head<3>() = R_transpose.row(2); |
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lb_(nf_) = min_nforce_; |
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ub_(nf_) = max_nforce_; |
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// CoP information |
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const Scalar L = box_(0) * Scalar(0.5); |
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const Scalar W = box_(1) * Scalar(0.5); |
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// This segment of matrix is defined as |
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// [0 0 -W 1 0 0; |
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// 0 0 -W -1 0 0; |
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// 0 0 -L 0 1 0; |
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// 0 0 -L 0 -1 0] |
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A_.row(nf_ + 1) << -W * R_transpose.row(2), R_transpose.row(0); |
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A_left.row(nf_ + 2) = A_left.row(nf_ + 1); |
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A_right.row(nf_ + 2) = -R_transpose.row(0); |
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A_.row(nf_ + 3) << -L * R_transpose.row(2), R_transpose.row(1); |
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A_left.row(nf_ + 4) = A_left.row(nf_ + 3); |
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A_right.row(nf_ + 4) = -R_transpose.row(1); |
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// Yaw-tau information |
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const Scalar mu_LW = -mu * (L + W); |
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// The segment of the matrix that encodes the minimum torque is defined as |
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// [ W L -mu*(L+W) -mu -mu -1; |
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// W -L -mu*(L+W) -mu mu -1; |
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// -W L -mu*(L+W) mu -mu -1; |
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// -W -L -mu*(L+W) mu mu -1] |
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A_.row(nf_ + 5) << Vector3s(W, L, mu_LW).transpose() * R_transpose, |
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Vector3s(-mu, -mu, Scalar(-1.)).transpose() * R_transpose; |
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A_.row(nf_ + 6) << Vector3s(W, -L, mu_LW).transpose() * R_transpose, |
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Vector3s(-mu, mu, Scalar(-1.)).transpose() * R_transpose; |
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A_.row(nf_ + 7) << Vector3s(-W, L, mu_LW).transpose() * R_transpose, |
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Vector3s(mu, -mu, Scalar(-1.)).transpose() * R_transpose; |
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A_.row(nf_ + 8) << Vector3s(-W, -L, mu_LW).transpose() * R_transpose, |
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Vector3s(mu, mu, Scalar(-1.)).transpose() * R_transpose; |
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// The segment of the matrix that encodes the infinity torque is defined as |
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// [ W L -mu*(L+W) mu mu 1; |
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// W -L -mu*(L+W) mu -mu 1; |
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// -W L -mu*(L+W) -mu mu 1; |
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// -W -L -mu*(L+W) -mu -mu 1] |
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A_left.row(nf_ + 9) = A_left.row(nf_ + 5); |
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A_right.row(nf_ + 9) = -A_right.row(nf_ + 5); |
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A_left.row(nf_ + 10) = A_left.row(nf_ + 6); |
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A_right.row(nf_ + 10) = -A_right.row(nf_ + 6); |
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A_left.row(nf_ + 11) = A_left.row(nf_ + 7); |
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A_right.row(nf_ + 11) = -A_right.row(nf_ + 7); |
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A_left.row(nf_ + 12) = A_left.row(nf_ + 8); |
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A_right.row(nf_ + 12) = -A_right.row(nf_ + 8); |
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} |
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template <typename Scalar> |
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void WrenchConeTpl<Scalar>::update(const Matrix3s& R, const Scalar mu, |
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const Vector2s& box, const Scalar min_nforce, |
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const Scalar max_nforce) { |
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set_R(R); |
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set_mu(mu); |
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set_inner_appr(inner_appr_); |
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set_box(box); |
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set_min_nforce(min_nforce); |
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set_max_nforce(max_nforce); |
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// Update the inequality matrix and bounds |
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update(); |
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} |
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template <typename Scalar> |
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template <typename NewScalar> |
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WrenchConeTpl<NewScalar> WrenchConeTpl<Scalar>::cast() const { |
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typedef WrenchConeTpl<NewScalar> ReturnType; |
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ReturnType ret(R_.template cast<NewScalar>(), scalar_cast<NewScalar>(mu_), |
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box_.template cast<NewScalar>(), nf_, inner_appr_, |
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scalar_cast<NewScalar>(min_nforce_), |
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scalar_cast<NewScalar>(max_nforce_)); |
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return ret; |
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} |
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template <typename Scalar> |
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const typename MathBaseTpl<Scalar>::MatrixX6s& WrenchConeTpl<Scalar>::get_A() |
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const { |
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return A_; |
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} |
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template <typename Scalar> |
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const typename MathBaseTpl<Scalar>::VectorXs& WrenchConeTpl<Scalar>::get_ub() |
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const { |
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return ub_; |
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} |
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template <typename Scalar> |
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const typename MathBaseTpl<Scalar>::VectorXs& WrenchConeTpl<Scalar>::get_lb() |
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const { |
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return lb_; |
| 264 |
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} |
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template <typename Scalar> |
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std::size_t WrenchConeTpl<Scalar>::get_nf() const { |
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return nf_; |
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} |
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template <typename Scalar> |
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const typename MathBaseTpl<Scalar>::Matrix3s& WrenchConeTpl<Scalar>::get_R() |
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const { |
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return R_; |
| 275 |
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} |
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template <typename Scalar> |
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const typename MathBaseTpl<Scalar>::Vector2s& WrenchConeTpl<Scalar>::get_box() |
| 279 |
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const { |
| 280 |
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✗ |
return box_; |
| 281 |
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} |
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template <typename Scalar> |
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const Scalar WrenchConeTpl<Scalar>::get_mu() const { |
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return mu_; |
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} |
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template <typename Scalar> |
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bool WrenchConeTpl<Scalar>::get_inner_appr() const { |
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return inner_appr_; |
| 291 |
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} |
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template <typename Scalar> |
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const Scalar WrenchConeTpl<Scalar>::get_min_nforce() const { |
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return min_nforce_; |
| 296 |
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} |
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template <typename Scalar> |
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const Scalar WrenchConeTpl<Scalar>::get_max_nforce() const { |
| 300 |
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return max_nforce_; |
| 301 |
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} |
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template <typename Scalar> |
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void WrenchConeTpl<Scalar>::set_R(const Matrix3s& R) { |
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R_ = R; |
| 306 |
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} |
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template <typename Scalar> |
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void WrenchConeTpl<Scalar>::set_box(const Vector2s& box) { |
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box_ = box; |
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✗ |
if (box_(0) < Scalar(0.)) { |
| 312 |
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box_(0) = std::numeric_limits<Scalar>::infinity(); |
| 313 |
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✗ |
std::cerr << "Warning: box(0) has to be a positive value, set to max. float" |
| 314 |
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✗ |
<< std::endl; |
| 315 |
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} |
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✗ |
if (box_(1) < Scalar(0.)) { |
| 317 |
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✗ |
box_(1) = std::numeric_limits<Scalar>::infinity(); |
| 318 |
|
✗ |
std::cerr << "Warning: box(0) has to be a positive value, set to max. float" |
| 319 |
|
✗ |
<< std::endl; |
| 320 |
|
|
} |
| 321 |
|
|
} |
| 322 |
|
|
|
| 323 |
|
|
template <typename Scalar> |
| 324 |
|
✗ |
void WrenchConeTpl<Scalar>::set_mu(const Scalar mu) { |
| 325 |
|
✗ |
mu_ = mu; |
| 326 |
|
✗ |
if (mu < Scalar(0.)) { |
| 327 |
|
✗ |
mu_ = Scalar(1.); |
| 328 |
|
✗ |
std::cerr << "Warning: mu has to be a positive value, set to 1." |
| 329 |
|
✗ |
<< std::endl; |
| 330 |
|
|
} |
| 331 |
|
|
} |
| 332 |
|
|
|
| 333 |
|
|
template <typename Scalar> |
| 334 |
|
✗ |
void WrenchConeTpl<Scalar>::set_inner_appr(const bool inner_appr) { |
| 335 |
|
✗ |
inner_appr_ = inner_appr; |
| 336 |
|
|
} |
| 337 |
|
|
|
| 338 |
|
|
template <typename Scalar> |
| 339 |
|
✗ |
void WrenchConeTpl<Scalar>::set_min_nforce(const Scalar min_nforce) { |
| 340 |
|
✗ |
min_nforce_ = min_nforce; |
| 341 |
|
✗ |
if (min_nforce < Scalar(0.)) { |
| 342 |
|
✗ |
min_nforce_ = Scalar(0.); |
| 343 |
|
✗ |
std::cerr << "Warning: min_nforce has to be a positive value, set to 0" |
| 344 |
|
✗ |
<< std::endl; |
| 345 |
|
|
} |
| 346 |
|
|
} |
| 347 |
|
|
|
| 348 |
|
|
template <typename Scalar> |
| 349 |
|
✗ |
void WrenchConeTpl<Scalar>::set_max_nforce(const Scalar max_nforce) { |
| 350 |
|
✗ |
max_nforce_ = max_nforce; |
| 351 |
|
✗ |
if (max_nforce < Scalar(0.)) { |
| 352 |
|
✗ |
max_nforce_ = std::numeric_limits<Scalar>::infinity(); |
| 353 |
|
✗ |
std::cerr << "Warning: max_nforce has to be a positive value, set to " |
| 354 |
|
|
"infinity value" |
| 355 |
|
✗ |
<< std::endl; |
| 356 |
|
|
} |
| 357 |
|
|
} |
| 358 |
|
|
|
| 359 |
|
|
template <typename Scalar> |
| 360 |
|
✗ |
WrenchConeTpl<Scalar>& WrenchConeTpl<Scalar>::operator=( |
| 361 |
|
|
const WrenchConeTpl<Scalar>& other) { |
| 362 |
|
✗ |
if (this != &other) { |
| 363 |
|
✗ |
nf_ = other.get_nf(); |
| 364 |
|
✗ |
A_ = other.get_A(); |
| 365 |
|
✗ |
ub_ = other.get_ub(); |
| 366 |
|
✗ |
lb_ = other.get_lb(); |
| 367 |
|
✗ |
R_ = other.get_R(); |
| 368 |
|
✗ |
box_ = other.get_box(); |
| 369 |
|
✗ |
mu_ = other.get_mu(); |
| 370 |
|
✗ |
inner_appr_ = other.get_inner_appr(); |
| 371 |
|
✗ |
min_nforce_ = other.get_min_nforce(); |
| 372 |
|
✗ |
max_nforce_ = other.get_max_nforce(); |
| 373 |
|
|
} |
| 374 |
|
✗ |
return *this; |
| 375 |
|
|
} |
| 376 |
|
|
|
| 377 |
|
|
template <typename Scalar> |
| 378 |
|
✗ |
std::ostream& operator<<(std::ostream& os, const WrenchConeTpl<Scalar>& X) { |
| 379 |
|
✗ |
os << " R: " << X.get_R() << std::endl; |
| 380 |
|
✗ |
os << " mu: " << X.get_mu() << std::endl; |
| 381 |
|
✗ |
os << " box: " << X.get_box().transpose() << std::endl; |
| 382 |
|
✗ |
os << " nf: " << X.get_nf() << std::endl; |
| 383 |
|
✗ |
os << "inner_appr: "; |
| 384 |
|
✗ |
if (X.get_inner_appr()) { |
| 385 |
|
✗ |
os << "true" << std::endl; |
| 386 |
|
|
} else { |
| 387 |
|
✗ |
os << "false" << std::endl; |
| 388 |
|
|
} |
| 389 |
|
✗ |
os << " min_force: " << X.get_min_nforce() << std::endl; |
| 390 |
|
✗ |
os << " max_force: " << X.get_max_nforce() << std::endl; |
| 391 |
|
✗ |
return os; |
| 392 |
|
|
} |
| 393 |
|
|
|
| 394 |
|
|
} // namespace crocoddyl |
| 395 |
|
|
|