contact-force.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_RESIDUALS_CONTACT_FORCE_HPP_
#define CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_FORCE_HPP_
 
#include "crocoddyl/core/residual-base.hpp"
#include "crocoddyl/multibody/contact-base.hpp"
#include "crocoddyl/multibody/contacts/contact-1d.hpp"
#include "crocoddyl/multibody/contacts/contact-3d.hpp"
#include "crocoddyl/multibody/contacts/contact-6d.hpp"
#include "crocoddyl/multibody/contacts/multiple-contacts.hpp"
#include "crocoddyl/multibody/data/contacts.hpp"
#include "crocoddyl/multibody/data/impulses.hpp"
#include "crocoddyl/multibody/fwd.hpp"
#include "crocoddyl/multibody/impulse-base.hpp"
#include "crocoddyl/multibody/impulses/impulse-3d.hpp"
#include "crocoddyl/multibody/impulses/impulse-6d.hpp"
#include "crocoddyl/multibody/impulses/multiple-impulses.hpp"
#include "crocoddyl/multibody/states/multibody.hpp"
 
namespace crocoddyl {
 
template <typename _Scalar>
class ResidualModelContactForceTpl : public ResidualModelAbstractTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  CROCODDYL_DERIVED_CAST(ResidualModelBase, ResidualModelContactForceTpl)
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ResidualModelAbstractTpl<Scalar> Base;
  typedef ResidualDataContactForceTpl<Scalar> Data;
  typedef StateMultibodyTpl<Scalar> StateMultibody;
  typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
  typedef pinocchio::ForceTpl<Scalar> Force;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  ResidualModelContactForceTpl(std::shared_ptr<StateMultibody> state,
                               const pinocchio::FrameIndex id,
                               const Force& fref, const std::size_t nc,
                               const std::size_t nu, const bool fwddyn = true);
 
  ResidualModelContactForceTpl(std::shared_ptr<StateMultibody> state,
                               const pinocchio::FrameIndex id,
                               const Force& fref, const std::size_t nc);
  virtual ~ResidualModelContactForceTpl() = default;
 
  virtual void calc(const std::shared_ptr<ResidualDataAbstract>& data,
                    const Eigen::Ref<const VectorXs>& x,
                    const Eigen::Ref<const VectorXs>& u) override;
 
  virtual void calc(const std::shared_ptr<ResidualDataAbstract>& data,
                    const Eigen::Ref<const VectorXs>& x) override;
 
  virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data,
                        const Eigen::Ref<const VectorXs>& x,
                        const Eigen::Ref<const VectorXs>& u) override;
 
  virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data,
                        const Eigen::Ref<const VectorXs>& x) override;
 
  virtual std::shared_ptr<ResidualDataAbstract> createData(
      DataCollectorAbstract* const data) override;
 
  void updateJacobians(const std::shared_ptr<ResidualDataAbstract>& data);
 
  template <typename NewScalar>
  ResidualModelContactForceTpl<NewScalar> cast() const;
 
  bool is_fwddyn() const;
 
  pinocchio::FrameIndex get_id() const;
 
  const Force& get_reference() const;
 
  DEPRECATED("Do not use set_id, instead create a new model",
             void set_id(const pinocchio::FrameIndex id);)
 
  void set_reference(const Force& reference);
 
  virtual void print(std::ostream& os) const override;
 
 protected:
  using Base::nr_;
  using Base::nu_;
  using Base::state_;
 
 private:
  bool fwddyn_;  
  bool update_jacobians_;     
  pinocchio::FrameIndex id_;  
  Force fref_;  
};
 
template <typename _Scalar>
struct ResidualDataContactForceTpl : public ResidualDataAbstractTpl<_Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ResidualDataAbstractTpl<Scalar> Base;
  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
  typedef ContactModelMultipleTpl<Scalar> ContactModelMultiple;
  typedef ImpulseModelMultipleTpl<Scalar> ImpulseModelMultiple;
  typedef pinocchio::ForceTpl<Scalar> Force;
  typedef StateMultibodyTpl<Scalar> StateMultibody;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  template <template <typename Scalar> class Model>
  ResidualDataContactForceTpl(Model<Scalar>* const model,
                              DataCollectorAbstract* const data)
      : Base(model, data) {
    contact_type = ContactUndefined;
 
    // Check that proper shared data has been passed
    bool is_contact = true;
    DataCollectorContactTpl<Scalar>* d1 =
        dynamic_cast<DataCollectorContactTpl<Scalar>*>(shared);
    DataCollectorImpulseTpl<Scalar>* d2 =
        dynamic_cast<DataCollectorImpulseTpl<Scalar>*>(shared);
    if (d1 == NULL && d2 == NULL) {
      throw_pretty(
          "Invalid argument: the shared data should be derived from "
          "DataCollectorContact or DataCollectorImpulse");
    }
    if (d2 != NULL) {
      is_contact = false;
    }
 
    // Avoids data casting at runtime
    const pinocchio::FrameIndex id = model->get_id();
    const std::shared_ptr<StateMultibody>& state =
        std::static_pointer_cast<StateMultibody>(model->get_state());
    std::string frame_name = state->get_pinocchio()->frames[id].name;
    bool found_contact = false;
    if (is_contact) {
      for (typename ContactModelMultiple::ContactDataContainer::iterator it =
               d1->contacts->contacts.begin();
           it != d1->contacts->contacts.end(); ++it) {
        if (it->second->frame == id) {
          ContactData1DTpl<Scalar>* d1d =
              dynamic_cast<ContactData1DTpl<Scalar>*>(it->second.get());
          if (d1d != NULL) {
            contact_type = Contact1D;
            found_contact = true;
            contact = it->second;
            break;
          }
          ContactData3DTpl<Scalar>* d3d =
              dynamic_cast<ContactData3DTpl<Scalar>*>(it->second.get());
          if (d3d != NULL) {
            contact_type = Contact3D;
            found_contact = true;
            contact = it->second;
            break;
          }
          ContactData6DTpl<Scalar>* d6d =
              dynamic_cast<ContactData6DTpl<Scalar>*>(it->second.get());
          if (d6d != NULL) {
            contact_type = Contact6D;
            found_contact = true;
            contact = it->second;
            break;
          }
          throw_pretty(
              "Domain error: there isn't defined at least a 3d contact for " +
              frame_name);
          break;
        }
      }
    } else {
      for (typename ImpulseModelMultiple::ImpulseDataContainer::iterator it =
               d2->impulses->impulses.begin();
           it != d2->impulses->impulses.end(); ++it) {
        if (it->second->frame == id) {
          ImpulseData3DTpl<Scalar>* d3d =
              dynamic_cast<ImpulseData3DTpl<Scalar>*>(it->second.get());
          if (d3d != NULL) {
            contact_type = Contact3D;
            found_contact = true;
            contact = it->second;
            break;
          }
          ImpulseData6DTpl<Scalar>* d6d =
              dynamic_cast<ImpulseData6DTpl<Scalar>*>(it->second.get());
          if (d6d != NULL) {
            contact_type = Contact6D;
            found_contact = true;
            contact = it->second;
            break;
          }
          throw_pretty(
              "Domain error: there isn't defined at least a 3d impulse for " +
              frame_name);
          break;
        }
      }
    }
    if (!found_contact) {
      throw_pretty(
          "Domain error: there isn't defined contact/impulse data for " +
          frame_name);
    }
  }
  virtual ~ResidualDataContactForceTpl() = default;
 
  std::shared_ptr<ForceDataAbstractTpl<Scalar> >
      contact;               
  ContactType contact_type;  
  using Base::r;
  using Base::Ru;
  using Base::Rx;
  using Base::shared;
};
 
}  // namespace crocoddyl
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/multibody/residuals/contact-force.hxx"
 
CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::ResidualModelContactForceTpl)
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::ResidualDataContactForceTpl)
 
#endif  // CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_FORCE_HPP_