Crocoddyl
 
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contact-6d.hpp
1
2// BSD 3-Clause License
3//
4// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh,
5// Heriot-Watt University
6// Copyright note valid unless otherwise stated in individual files.
7// All rights reserved.
9
10#ifndef CROCODDYL_MULTIBODY_CONTACTS_CONTACT_6D_HPP_
11#define CROCODDYL_MULTIBODY_CONTACTS_CONTACT_6D_HPP_
12
13#include "crocoddyl/core/utils/deprecate.hpp"
14#include "crocoddyl/multibody/contact-base.hpp"
15#include "crocoddyl/multibody/fwd.hpp"
16
17namespace crocoddyl {
18
19template <typename _Scalar>
21 public:
22 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
23 CROCODDYL_DERIVED_CAST(ContactModelBase, ContactModel6DTpl)
24
25 typedef _Scalar Scalar;
31 typedef pinocchio::SE3Tpl<Scalar> SE3;
32 typedef typename MathBase::Vector2s Vector2s;
33 typedef typename MathBase::Vector3s Vector3s;
34 typedef typename MathBase::VectorXs VectorXs;
35 typedef typename MathBase::Matrix3s Matrix3s;
36
52 ContactModel6DTpl(std::shared_ptr<StateMultibody> state,
53 const pinocchio::FrameIndex id, const SE3& pref,
54 const pinocchio::ReferenceFrame type, const std::size_t nu,
55 const Vector2s& gains = Vector2s::Zero());
56
72 ContactModel6DTpl(std::shared_ptr<StateMultibody> state,
73 const pinocchio::FrameIndex id, const SE3& pref,
74 const pinocchio::ReferenceFrame type,
75 const Vector2s& gains = Vector2s::Zero());
76
77 DEPRECATED(
78 "Use constructor that passes the type type of contact, this assumes is "
79 "pinocchio::LOCAL",
80 ContactModel6DTpl(std::shared_ptr<StateMultibody> state,
81 const pinocchio::FrameIndex id, const SE3& pref,
82 const std::size_t nu,
83 const Vector2s& gains = Vector2s::Zero());)
84 DEPRECATED(
85 "Use constructor that passes the type type of contact, this assumes is "
86 "pinocchio::LOCAL",
87 ContactModel6DTpl(std::shared_ptr<StateMultibody> state,
88 const pinocchio::FrameIndex id, const SE3& pref,
89 const Vector2s& gains = Vector2s::Zero());)
90 virtual ~ContactModel6DTpl() = default;
91
99 virtual void calc(const std::shared_ptr<ContactDataAbstract>& data,
100 const Eigen::Ref<const VectorXs>& x) override;
101
109 virtual void calcDiff(const std::shared_ptr<ContactDataAbstract>& data,
110 const Eigen::Ref<const VectorXs>& x) override;
111
118 virtual void updateForce(const std::shared_ptr<ContactDataAbstract>& data,
119 const VectorXs& force) override;
120
124 virtual std::shared_ptr<ContactDataAbstract> createData(
125 pinocchio::DataTpl<Scalar>* const data) override;
126
136 template <typename NewScalar>
138
142 const SE3& get_reference() const;
143
147 const Vector2s& get_gains() const;
148
152 void set_reference(const SE3& reference);
153
159 virtual void print(std::ostream& os) const override;
160
161 protected:
162 using Base::id_;
163 using Base::nc_;
164 using Base::nu_;
165 using Base::state_;
166 using Base::type_;
167
168 private:
169 SE3 pref_;
170 Vector2s gains_;
171};
172
173template <typename _Scalar>
174struct ContactData6DTpl : public ContactDataAbstractTpl<_Scalar> {
175 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
176
177 typedef _Scalar Scalar;
180 typedef typename MathBase::Matrix3s Matrix3s;
181 typedef typename MathBase::Matrix6xs Matrix6xs;
182 typedef typename MathBase::Matrix6s Matrix6s;
183 typedef typename MathBase::MatrixXs MatrixXs;
184 typedef typename pinocchio::SE3Tpl<Scalar> SE3;
185 typedef typename pinocchio::MotionTpl<Scalar> Motion;
186 typedef typename pinocchio::ForceTpl<Scalar> Force;
187
188 template <template <typename Scalar> class Model>
189 ContactData6DTpl(Model<Scalar>* const model,
190 pinocchio::DataTpl<Scalar>* const data)
191 : Base(model, data),
192 rMf(SE3::Identity()),
193 lwaMl(SE3::Identity()),
194 v(Motion::Zero()),
195 a0_local(Motion::Zero()),
196 f_local(Force::Zero()),
197 da0_local_dx(6, model->get_state()->get_ndx()),
198 fJf(6, model->get_state()->get_nv()),
199 v_partial_dq(6, model->get_state()->get_nv()),
200 a_partial_dq(6, model->get_state()->get_nv()),
201 a_partial_dv(6, model->get_state()->get_nv()),
202 a_partial_da(6, model->get_state()->get_nv()),
203 fJf_df(6, model->get_state()->get_nv()) {
204 frame = model->get_id();
205 jMf = model->get_state()->get_pinocchio()->frames[frame].placement;
206 fXj = jMf.inverse().toActionMatrix();
207 da0_local_dx.setZero();
208 fJf.setZero();
209 v_partial_dq.setZero();
210 a_partial_dq.setZero();
211 a_partial_dv.setZero();
212 a_partial_da.setZero();
213 av_world_skew.setZero();
214 aw_world_skew.setZero();
215 av_skew.setZero();
216 aw_skew.setZero();
217 fv_skew.setZero();
218 fw_skew.setZero();
219 rMf_Jlog6.setZero();
220 fJf_df.setZero();
221 }
222 virtual ~ContactData6DTpl() = default;
223
224 using Base::a0;
225 using Base::da0_dx;
226 using Base::df_du;
227 using Base::df_dx;
228 using Base::f;
229 using Base::frame;
230 using Base::fXj;
231 using Base::Jc;
232 using Base::jMf;
233 using Base::pinocchio;
234
235 SE3 rMf;
236 SE3 lwaMl;
237 Motion v;
238 Motion a0_local;
239 Force f_local;
240 Matrix6xs da0_local_dx;
241 MatrixXs fJf;
242 Matrix6xs v_partial_dq;
243 Matrix6xs a_partial_dq;
244 Matrix6xs a_partial_dv;
245 Matrix6xs a_partial_da;
246 Matrix3s av_world_skew;
247 Matrix3s aw_world_skew;
248 Matrix3s av_skew;
249 Matrix3s aw_skew;
250 Matrix3s fv_skew;
251 Matrix3s fw_skew;
252 Matrix6s rMf_Jlog6;
253 MatrixXs fJf_df;
254};
255
256} // namespace crocoddyl
257/* --- Details -------------------------------------------------------------- */
258/* --- Details -------------------------------------------------------------- */
259/* --- Details -------------------------------------------------------------- */
260#include "crocoddyl/multibody/contacts/contact-6d.hxx"
261
262CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::ContactModel6DTpl)
263CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::ContactData6DTpl)
264
265#endif // CROCODDYL_MULTIBODY_CONTACTS_CONTACT_6D_HPP_
const Vector2s & get_gains() const
Return the Baumgarte stabilization gains.
virtual void calc(const std::shared_ptr< ContactDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) override
Compute the 3d contact Jacobian and drift.
virtual std::shared_ptr< ContactDataAbstract > createData(pinocchio::DataTpl< Scalar > *const data) override
Create the 6d contact data.
ContactModel6DTpl(std::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const SE3 &pref, const pinocchio::ReferenceFrame type, const std::size_t nu, const Vector2s &gains=Vector2s::Zero())
Initialize the 6d contact model.
const SE3 & get_reference() const
Return the reference frame placement.
void set_reference(const SE3 &reference)
Modify the reference frame placement.
ContactModel6DTpl(std::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const SE3 &pref, const pinocchio::ReferenceFrame type, const Vector2s &gains=Vector2s::Zero())
Initialize the 6d contact model.
virtual void calcDiff(const std::shared_ptr< ContactDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) override
Compute the derivatives of the 6d contact holonomic constraint.
virtual void updateForce(const std::shared_ptr< ContactDataAbstract > &data, const VectorXs &force) override
Convert the force into a stack of spatial forces.
ContactModel6DTpl< NewScalar > cast() const
Cast the contact-6d model to a different scalar type.
virtual void print(std::ostream &os) const override
Print relevant information of the 6d contact model.
pinocchio::ReferenceFrame type_
Type of contact.
pinocchio::FrameIndex id_
Reference frame id of the contact.
State multibody representation.
Definition multibody.hpp:34
PinocchioData * pinocchio
Pinocchio data.
pinocchio::FrameIndex frame
Frame index of the contact frame.
SE3 jMf
Local frame placement of the contact frame.
MatrixXs Jc
Contact Jacobian.
Force f
Contact force expressed in the coordinate defined by type.