Define a stack of contact models. More...

#include <multiple-contacts.hpp>

Public Types
typedef ContactDataAbstractTpl< Scalar >	ContactDataAbstract

typedef std::map< std::string, std::shared_ptr< ContactDataAbstract > >	ContactDataContainer

typedef ContactDataMultipleTpl< Scalar >	ContactDataMultiple

typedef ContactItemTpl< Scalar >	ContactItem

typedef ContactModelAbstractTpl< Scalar >	ContactModelAbstract

typedef std::map< std::string, std::shared_ptr< ContactItem > >	ContactModelContainer

typedef pinocchio::container::aligned_vector< pinocchio::ForceTpl< Scalar > >::iterator	ForceIterator

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef StateMultibodyTpl< Scalar >	StateMultibody

typedef MathBase::Vector2s	Vector2s

typedef MathBase::Vector3s	Vector3s

typedef MathBase::VectorXs	VectorXs

Public Member Functions
	ContactModelMultipleTpl (std::shared_ptr< StateMultibody > state)
	Initialize the multi-contact model.

	ContactModelMultipleTpl (std::shared_ptr< StateMultibody > state, const std::size_t nu)
	Initialize the multi-contact model.

void	addContact (const std::string &name, std::shared_ptr< ContactModelAbstract > contact, const bool active=true)
	Add contact item.

void	calc (const std::shared_ptr< ContactDataMultiple > &data, const Eigen::Ref< const VectorXs > &x)
	Compute the contact Jacobian and contact acceleration.

void	calcDiff (const std::shared_ptr< ContactDataMultiple > &data, const Eigen::Ref< const VectorXs > &x)
	Compute the derivatives of the contact holonomic constraint.

template<typename NewScalar >
ContactModelMultipleTpl< NewScalar >	cast () const
	Cast the multi-contact model to a different scalar type.

void	changeContactStatus (const std::string &name, const bool active)
	Change the contact status.

std::shared_ptr< ContactDataMultiple >	createData (pinocchio::DataTpl< Scalar > *const data)
	Create the multi-contact data.

const std::set< std::string > &	get_active_set () const
	Return the names of the set of active contacts.

const ContactModelContainer &	get_contacts () const
	Return the contact models.

const std::set< std::string > &	get_inactive_set () const
	Return the names of the set of inactive contacts.

std::size_t	get_nc () const
	Return the dimension of active contacts.

std::size_t	get_nc_total () const
	Return the dimension of all contacts.

std::size_t	get_nu () const
	Return the dimension of control vector.

const std::shared_ptr< StateMultibody > &	get_state () const
	Return the multibody state.

bool	getComputeAllContacts () const
	Return the type of contact computation.

bool	getContactStatus (const std::string &name) const
	Return the status of a given contact name.

void	removeContact (const std::string &name)
	Remove contact item.

void	setComputeAllContacts (const bool status)
	Set the tyoe of contact computation: all or active contacts.

void	updateAcceleration (const std::shared_ptr< ContactDataMultiple > &data, const VectorXs &dv) const
	Update the constrained system acceleration.

void	updateAccelerationDiff (const std::shared_ptr< ContactDataMultiple > &data, const MatrixXs &ddv_dx) const
	Update the Jacobian of the constrained system acceleration.

void	updateForce (const std::shared_ptr< ContactDataMultiple > &data, const VectorXs &force)
	Update the spatial force defined in frame coordinate.

void	updateForceDiff (const std::shared_ptr< ContactDataMultiple > &data, const MatrixXs &df_dx, const MatrixXs &df_du) const
	Update the Jacobian of the spatial force defined in frame coordinate.

void	updateRneaDiff (const std::shared_ptr< ContactDataMultiple > &data, pinocchio::DataTpl< Scalar > &pinocchio) const
	Update the RNEA derivatives dtau_dq by adding the skew term (necessary for contacts expressed in LOCAL_WORLD_ALIGNED / WORLD)

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Friends
template<class Scalar >
std::ostream &	operator<< (std::ostream &os, const ContactModelMultipleTpl< Scalar > &model)
	Print information on the contact models.

Detailed Description

template<typename _Scalar>
class crocoddyl::ContactModelMultipleTpl< _Scalar >

Define a stack of contact models.

The contact models can be defined with active and inactive status. The idea behind this design choice is to be able to create a mechanism that allocates the entire data needed for the computations. Then, there are designed routines that update the only active contacts.

Definition at line 61 of file multiple-contacts.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 66 of file multiple-contacts.hpp.

◆ StateMultibody

template<typename _Scalar >

typedef StateMultibodyTpl<Scalar> StateMultibody

Definition at line 67 of file multiple-contacts.hpp.

◆ ContactDataAbstract

template<typename _Scalar >

typedef ContactDataAbstractTpl<Scalar> ContactDataAbstract

Definition at line 68 of file multiple-contacts.hpp.

◆ ContactDataMultiple

template<typename _Scalar >

typedef ContactDataMultipleTpl<Scalar> ContactDataMultiple

Definition at line 69 of file multiple-contacts.hpp.

◆ ContactModelAbstract

template<typename _Scalar >

typedef ContactModelAbstractTpl<Scalar> ContactModelAbstract

Definition at line 70 of file multiple-contacts.hpp.

◆ ContactItem

template<typename _Scalar >

typedef ContactItemTpl<Scalar> ContactItem

Definition at line 72 of file multiple-contacts.hpp.

◆ Vector2s

template<typename _Scalar >

typedef MathBase::Vector2s Vector2s

Definition at line 74 of file multiple-contacts.hpp.

◆ Vector3s

template<typename _Scalar >

typedef MathBase::Vector3s Vector3s

Definition at line 75 of file multiple-contacts.hpp.

◆ VectorXs

template<typename _Scalar >

typedef MathBase::VectorXs VectorXs

Definition at line 76 of file multiple-contacts.hpp.

◆ MatrixXs

template<typename _Scalar >

typedef MathBase::MatrixXs MatrixXs

Definition at line 77 of file multiple-contacts.hpp.

◆ ContactModelContainer

template<typename _Scalar >

typedef std::map<std::string, std::shared_ptr<ContactItem> > ContactModelContainer

Definition at line 80 of file multiple-contacts.hpp.

◆ ContactDataContainer

template<typename _Scalar >

typedef std::map<std::string, std::shared_ptr<ContactDataAbstract> > ContactDataContainer

Definition at line 82 of file multiple-contacts.hpp.

◆ ForceIterator

template<typename _Scalar >

typedef pinocchio::container::aligned_vector<pinocchio::ForceTpl<Scalar>>::iterator ForceIterator

Definition at line 84 of file multiple-contacts.hpp.

Constructor & Destructor Documentation

◆ ContactModelMultipleTpl() [1/2]

template<typename _Scalar >

ContactModelMultipleTpl	(	std::shared_ptr< StateMultibody >	state,
		const std::size_t	nu
	)

Initialize the multi-contact model.

Parameters

[in]	state	Multibody state
[in]	nu	Dimension of control vector

◆ ContactModelMultipleTpl() [2/2]

template<typename _Scalar >

ContactModelMultipleTpl ( std::shared_ptr< StateMultibody > state )

Initialize the multi-contact model.

Parameters

[in] state Multibody state

Member Function Documentation

◆ addContact()

template<typename _Scalar >

void addContact	(	const std::string &	name,
		std::shared_ptr< ContactModelAbstract >	contact,
		const bool	active = `true`
	)

Add contact item.

Note that the memory is allocated for inactive contacts as well.

Parameters

[in]	name	Contact name
[in]	contact	Contact model
[in]	active	Contact status (active by default)

◆ removeContact()

template<typename _Scalar >

void removeContact ( const std::string & name )

Remove contact item.

Parameters

[in] name Contact name

◆ changeContactStatus()

template<typename _Scalar >

void changeContactStatus	(	const std::string &	name,
		const bool	active
	)

Change the contact status.

Parameters

[in]	name	Contact name
[in]	active	Contact status (True for active)

◆ calc()

template<typename _Scalar >

void calc	(	const std::shared_ptr< ContactDataMultiple > &	data,
		const Eigen::Ref< const VectorXs > &	x
	)

Compute the contact Jacobian and contact acceleration.

Parameters

[in]	data	Multi-contact data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

◆ calcDiff()

template<typename _Scalar >

void calcDiff	(	const std::shared_ptr< ContactDataMultiple > &	data,
		const Eigen::Ref< const VectorXs > &	x
	)

Compute the derivatives of the contact holonomic constraint.

Parameters

[in]	data	Multi-contact data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

◆ updateAcceleration()

template<typename _Scalar >

void updateAcceleration	(	const std::shared_ptr< ContactDataMultiple > &	data,
		const VectorXs &	dv
	)		const

Update the constrained system acceleration.

Parameters

[in]	data	Multi-contact data
[in]	dv	Constrained system acceleration \(\dot{\mathbf{v}}\in\mathbb{R}^{nv}\)

◆ updateForce()

template<typename _Scalar >

void updateForce	(	const std::shared_ptr< ContactDataMultiple > &	data,
		const VectorXs &	force
	)

Update the spatial force defined in frame coordinate.

Parameters

[in]	data	Multi-contact data
[in]	force	Spatial force defined in frame coordinate \({}^o\underline{\boldsymbol{\lambda}}_c\in\mathbb{R}^{nc}\)

◆ updateAccelerationDiff()

template<typename _Scalar >

void updateAccelerationDiff	(	const std::shared_ptr< ContactDataMultiple > &	data,
		const MatrixXs &	ddv_dx
	)		const

Update the Jacobian of the constrained system acceleration.

Parameters

[in]	data	Multi-contact data
[in]	ddv_dx	Jacobian of the system acceleration in generalized coordinates \(\frac{\partial\dot{\mathbf{v}}}{\partial\mathbf{x}}\in\mathbb{R}^{nv\times ndx}\)

◆ updateForceDiff()

template<typename _Scalar >

void updateForceDiff	(	const std::shared_ptr< ContactDataMultiple > &	data,
		const MatrixXs &	df_dx,
		const MatrixXs &	df_du
	)		const

Update the Jacobian of the spatial force defined in frame coordinate.

Parameters

[in]	data	Multi-contact data
[in]	df_dx	Jacobian of the spatial impulse defined in frame coordinate \(\frac{\partial{}^o\underline{\boldsymbol{\lambda}}_c}{\partial\mathbf{x}}\in\mathbb{R}^{nc\times{ndx}}\)
[in]	df_du	Jacobian of the spatial impulse defined in frame coordinate \(\frac{\partial{}^o\underline{\boldsymbol{\lambda}}_c}{\partial\mathbf{u}}\in\mathbb{R}^{nc\times{nu}}\)

◆ updateRneaDiff()

template<typename _Scalar >

void updateRneaDiff	(	const std::shared_ptr< ContactDataMultiple > &	data,
		pinocchio::DataTpl< Scalar > &	pinocchio
	)		const

Update the RNEA derivatives dtau_dq by adding the skew term (necessary for contacts expressed in LOCAL_WORLD_ALIGNED / WORLD)

To learn more about the computation of the contact derivatives in different frames see https://hal.science/hal-03758989/document.

Parameters

[in]	data	Multi-contact data
[in]	pinocchio	Pinocchio data

◆ createData()

template<typename _Scalar >

std::shared_ptr< ContactDataMultiple > createData ( pinocchio::DataTpl< Scalar > *const data )

Create the multi-contact data.

Parameters

[in] data Pinocchio data

Returns: the multi-contact data.

◆ cast()

template<typename _Scalar >

template<typename NewScalar >

ContactModelMultipleTpl< NewScalar > cast ( ) const

Cast the multi-contact model to a different scalar type.

It is useful for operations requiring different precision or scalar types.

Template Parameters

NewScalar The new scalar type to cast to.

Returns: ContactModelMultipleTpl<NewScalar> A multi-contact model with the new scalar type.

◆ getComputeAllContacts()

template<typename _Scalar >

bool getComputeAllContacts ( ) const

Return the type of contact computation.

True for all contacts, otherwise false for active contacts

◆ setComputeAllContacts()

template<typename _Scalar >

void setComputeAllContacts ( const bool status )

Set the tyoe of contact computation: all or active contacts.

Parameters

status Type of contact computation (true for all contacts and false for active contacts)

Member Data Documentation

◆ Scalar

template<typename _Scalar >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 65 of file multiple-contacts.hpp.

The documentation for this class was generated from the following file:

/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/multibody/contacts/multiple-contacts.hpp

Public Types

Public Member Functions

Public Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ MathBase

◆ StateMultibody

◆ ContactDataAbstract

◆ ContactDataMultiple

◆ ContactModelAbstract

◆ ContactItem

◆ Vector2s

◆ Vector3s

◆ VectorXs

◆ MatrixXs

◆ ContactModelContainer

◆ ContactDataContainer

◆ ForceIterator

Constructor & Destructor Documentation

◆ ContactModelMultipleTpl() [1/2]

◆ ContactModelMultipleTpl() [2/2]

Member Function Documentation

◆ addContact()

◆ removeContact()

◆ changeContactStatus()

◆ calc()

◆ calcDiff()

◆ updateAcceleration()

◆ updateForce()

◆ updateAccelerationDiff()

◆ updateForceDiff()

◆ updateRneaDiff()

◆ createData()

◆ cast()

◆ getComputeAllContacts()

◆ setComputeAllContacts()

Member Data Documentation

◆ Scalar