contact-base.hpp

// BSD 3-Clause License
//
// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh,
//                          Heriot-Watt University
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
 
#ifndef CROCODDYL_MULTIBODY_CONTACT_BASE_HPP_
#define CROCODDYL_MULTIBODY_CONTACT_BASE_HPP_
 
#include "crocoddyl/core/utils/deprecate.hpp"
#include "crocoddyl/multibody/force-base.hpp"
#include "crocoddyl/multibody/fwd.hpp"
#include "crocoddyl/multibody/states/multibody.hpp"
 
namespace crocoddyl {
 
class ContactModelBase {
 public:
  virtual ~ContactModelBase() = default;
 
  CROCODDYL_BASE_CAST(ContactModelBase, ContactModelAbstractTpl)
};
 
template <typename _Scalar>
class ContactModelAbstractTpl : public ContactModelBase {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ContactDataAbstractTpl<Scalar> ContactDataAbstract;
  typedef StateMultibodyTpl<Scalar> StateMultibody;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  ContactModelAbstractTpl(std::shared_ptr<StateMultibody> state,
                          const pinocchio::ReferenceFrame type,
                          const std::size_t nc, const std::size_t nu);
  ContactModelAbstractTpl(std::shared_ptr<StateMultibody> state,
                          const pinocchio::ReferenceFrame type,
                          const std::size_t nc);
 
  DEPRECATED(
      "Use constructor that passes the type type of contact, this assumes is "
      "pinocchio::LOCAL",
      ContactModelAbstractTpl(std::shared_ptr<StateMultibody> state,
                              const std::size_t nc, const std::size_t nu);)
  DEPRECATED(
      "Use constructor that passes the type type of contact, this assumes is "
      "pinocchio::LOCAL",
      ContactModelAbstractTpl(std::shared_ptr<StateMultibody> state,
                              const std::size_t nc);)
  virtual ~ContactModelAbstractTpl() = default;
 
  virtual void calc(const std::shared_ptr<ContactDataAbstract>& data,
                    const Eigen::Ref<const VectorXs>& x) = 0;
 
  virtual void calcDiff(const std::shared_ptr<ContactDataAbstract>& data,
                        const Eigen::Ref<const VectorXs>& x) = 0;
 
  virtual void updateForce(const std::shared_ptr<ContactDataAbstract>& data,
                           const VectorXs& force) = 0;
 
  void updateForceDiff(const std::shared_ptr<ContactDataAbstract>& data,
                       const MatrixXs& df_dx, const MatrixXs& df_du) const;
 
  void setZeroForce(const std::shared_ptr<ContactDataAbstract>& data) const;
 
  void setZeroForceDiff(const std::shared_ptr<ContactDataAbstract>& data) const;
 
  virtual std::shared_ptr<ContactDataAbstract> createData(
      pinocchio::DataTpl<Scalar>* const data);
 
  const std::shared_ptr<StateMultibody>& get_state() const;
 
  std::size_t get_nc() const;
 
  std::size_t get_nu() const;
 
  pinocchio::FrameIndex get_id() const;
 
  void set_id(const pinocchio::FrameIndex id);
 
  void set_type(const pinocchio::ReferenceFrame type);
 
  pinocchio::ReferenceFrame get_type() const;
 
  template <class Scalar>
  friend std::ostream& operator<<(std::ostream& os,
                                  const ContactModelAbstractTpl<Scalar>& model);
 
  virtual void print(std::ostream& os) const;
 
 protected:
  std::shared_ptr<StateMultibody> state_;
  std::size_t nc_;
  std::size_t nu_;
  pinocchio::FrameIndex id_;        
  pinocchio::ReferenceFrame type_;  
  ContactModelAbstractTpl() : state_(nullptr), nc_(0), nu_(0), id_(0) {};
};
 
template <typename _Scalar>
struct ContactDataAbstractTpl : public ForceDataAbstractTpl<_Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ForceDataAbstractTpl<Scalar> Base;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
  typedef typename pinocchio::SE3Tpl<Scalar> SE3;
 
  template <template <typename Scalar> class Model>
  ContactDataAbstractTpl(Model<Scalar>* const model,
                         pinocchio::DataTpl<Scalar>* const data)
      : Base(model, data),
        fXj(jMf.inverse().toActionMatrix()),
        a0(model->get_nc()),
        da0_dx(model->get_nc(), model->get_state()->get_ndx()),
        dtau_dq(model->get_state()->get_nv(), model->get_state()->get_nv()) {
    a0.setZero();
    da0_dx.setZero();
    dtau_dq.setZero();
  }
  virtual ~ContactDataAbstractTpl() = default;
 
  using Base::df_du;
  using Base::df_dx;
  using Base::f;
  using Base::frame;
  using Base::Jc;
  using Base::jMf;
  using Base::pinocchio;
 
  typename SE3::ActionMatrixType fXj;
  VectorXs a0;
  MatrixXs da0_dx;
  MatrixXs dtau_dq;
};
 
}  // namespace crocoddyl
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/multibody/contact-base.hxx"
 
CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::ContactModelAbstractTpl)
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::ContactDataAbstractTpl)
 
#endif  // CROCODDYL_MULTIBODY_CONTACT_BASE_HPP_