contact-invdyn.hpp

// BSD 3-Clause License
//
// Copyright (C) 2021-2025, Heriot-Watt University, University of Edinburgh
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
 
#ifndef CROCODDYL_MULTIBODY_ACTIONS_CONTACT_INVDYN_HPP_
#define CROCODDYL_MULTIBODY_ACTIONS_CONTACT_INVDYN_HPP_
 
#include "crocoddyl/core/actuation-base.hpp"
#include "crocoddyl/core/constraints/constraint-manager.hpp"
#include "crocoddyl/core/costs/cost-sum.hpp"
#include "crocoddyl/core/diff-action-base.hpp"
#include "crocoddyl/multibody/contacts/multiple-contacts.hpp"
#include "crocoddyl/multibody/data/contacts.hpp"
#include "crocoddyl/multibody/fwd.hpp"
#include "crocoddyl/multibody/states/multibody.hpp"
 
namespace crocoddyl {
 
template <typename _Scalar>
class DifferentialActionModelContactInvDynamicsTpl
    : public DifferentialActionModelAbstractTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  CROCODDYL_DERIVED_CAST(DifferentialActionModelBase,
                         DifferentialActionModelContactInvDynamicsTpl)
 
  typedef _Scalar Scalar;
  typedef DifferentialActionModelAbstractTpl<Scalar> Base;
  typedef DifferentialActionDataContactInvDynamicsTpl<Scalar> Data;
  typedef StateMultibodyTpl<Scalar> StateMultibody;
  typedef ActuationModelAbstractTpl<Scalar> ActuationModelAbstract;
  typedef CostModelSumTpl<Scalar> CostModelSum;
  typedef ConstraintModelManagerTpl<Scalar> ConstraintModelManager;
  typedef ContactModelMultipleTpl<Scalar> ContactModelMultiple;
  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
  typedef DifferentialActionDataAbstractTpl<Scalar>
      DifferentialActionDataAbstract;
  typedef ContactItemTpl<Scalar> ContactItem;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  DifferentialActionModelContactInvDynamicsTpl(
      std::shared_ptr<StateMultibody> state,
      std::shared_ptr<ActuationModelAbstract> actuation,
      std::shared_ptr<ContactModelMultiple> contacts,
      std::shared_ptr<CostModelSum> costs);
 
  DifferentialActionModelContactInvDynamicsTpl(
      std::shared_ptr<StateMultibody> state,
      std::shared_ptr<ActuationModelAbstract> actuation,
      std::shared_ptr<ContactModelMultiple> contacts,
      std::shared_ptr<CostModelSum> costs,
      std::shared_ptr<ConstraintModelManager> constraints);
  virtual ~DifferentialActionModelContactInvDynamicsTpl() = default;
 
  virtual void calc(const std::shared_ptr<DifferentialActionDataAbstract>& data,
                    const Eigen::Ref<const VectorXs>& x,
                    const Eigen::Ref<const VectorXs>& u) override;
 
  virtual void calc(const std::shared_ptr<DifferentialActionDataAbstract>& data,
                    const Eigen::Ref<const VectorXs>& x) override;
 
  virtual void calcDiff(
      const std::shared_ptr<DifferentialActionDataAbstract>& data,
      const Eigen::Ref<const VectorXs>& x,
      const Eigen::Ref<const VectorXs>& u) override;
 
  virtual void calcDiff(
      const std::shared_ptr<DifferentialActionDataAbstract>& data,
      const Eigen::Ref<const VectorXs>& x) override;
 
  virtual std::shared_ptr<DifferentialActionDataAbstract> createData() override;
 
  template <typename NewScalar>
  DifferentialActionModelContactInvDynamicsTpl<NewScalar> cast() const;
 
  virtual bool checkData(
      const std::shared_ptr<DifferentialActionDataAbstract>& data) override;
 
  virtual void quasiStatic(
      const std::shared_ptr<DifferentialActionDataAbstract>& data,
      Eigen::Ref<VectorXs> u, const Eigen::Ref<const VectorXs>& x,
      const std::size_t maxiter = 100,
      const Scalar tol = Scalar(1e-9)) override;
 
  virtual std::size_t get_ng() const override;
 
  virtual std::size_t get_nh() const override;
 
  virtual std::size_t get_ng_T() const override;
 
  virtual std::size_t get_nh_T() const override;
 
  virtual const VectorXs& get_g_lb() const override;
 
  virtual const VectorXs& get_g_ub() const override;
 
  const std::shared_ptr<ActuationModelAbstract>& get_actuation() const;
 
  const std::shared_ptr<ContactModelMultiple>& get_contacts() const;
 
  const std::shared_ptr<CostModelSum>& get_costs() const;
 
  const std::shared_ptr<ConstraintModelManager>& get_constraints() const;
 
  pinocchio::ModelTpl<Scalar>& get_pinocchio() const;
 
  virtual void print(std::ostream& os) const override;
 
 protected:
  using Base::g_lb_;   
  using Base::g_ub_;   
  using Base::ng_;     
  using Base::nh_;     
  using Base::nu_;     
  using Base::state_;  
 
 private:
  void init(const std::shared_ptr<StateMultibody>& state);
  std::shared_ptr<ActuationModelAbstract> actuation_;    
  std::shared_ptr<ContactModelMultiple> contacts_;       
  std::shared_ptr<CostModelSum> costs_;                  
  std::shared_ptr<ConstraintModelManager> constraints_;  
  pinocchio::ModelTpl<Scalar>* pinocchio_;               
 
 public:
  class ResidualModelActuation : public ResidualModelAbstractTpl<_Scalar> {
   public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    CROCODDYL_INNER_DERIVED_CAST(ResidualModelBase,
                                 DifferentialActionModelContactInvDynamicsTpl,
                                 ResidualModelActuation)
 
    typedef _Scalar Scalar;
    typedef MathBaseTpl<Scalar> MathBase;
    typedef ResidualModelAbstractTpl<Scalar> Base;
    typedef StateMultibodyTpl<Scalar> StateMultibody;
    typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
    typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
    typedef typename MathBase::VectorXs VectorXs;
 
    ResidualModelActuation(std::shared_ptr<StateMultibody> state,
                           const std::size_t nu, const std::size_t nc)
        : Base(state, state->get_nv() - nu, state->get_nv() + nc, true, true,
               true),
          na_(nu),
          nc_(nc) {}
    virtual ~ResidualModelActuation() = default;
 
    virtual void calc(const std::shared_ptr<ResidualDataAbstract>& data,
                      const Eigen::Ref<const VectorXs>&,
                      const Eigen::Ref<const VectorXs>&) override {
      typename Data::ResidualDataActuation* d =
          static_cast<typename Data::ResidualDataActuation*>(data.get());
      // Update the under-actuation set and residual
      std::size_t nrow = 0;
      for (std::size_t k = 0;
           k < static_cast<std::size_t>(d->actuation->tau_set.size()); ++k) {
        if (!d->actuation->tau_set[k]) {
          data->r(nrow) = d->pinocchio->tau(k);
          nrow += 1;
        }
      }
    }
 
    virtual void calc(const std::shared_ptr<ResidualDataAbstract>& data,
                      const Eigen::Ref<const VectorXs>&) override {
      data->r.setZero();
    }
 
    virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data,
                          const Eigen::Ref<const VectorXs>&,
                          const Eigen::Ref<const VectorXs>&) override {
      typename Data::ResidualDataActuation* d =
          static_cast<typename Data::ResidualDataActuation*>(data.get());
      std::size_t nrow = 0;
      const std::size_t nv = state_->get_nv();
      d->dtau_dx.leftCols(nv) = d->pinocchio->dtau_dq;
      d->dtau_dx.rightCols(nv) = d->pinocchio->dtau_dv;
      d->dtau_dx -= d->actuation->dtau_dx;
      d->dtau_du.leftCols(nv) = d->pinocchio->M;
      d->dtau_du.rightCols(nc_) = -d->contact->Jc.transpose();
      for (std::size_t k = 0;
           k < static_cast<std::size_t>(d->actuation->tau_set.size()); ++k) {
        if (!d->actuation->tau_set[k]) {
          d->Rx.row(nrow) = d->dtau_dx.row(k);
          d->Ru.row(nrow) = d->dtau_du.row(k);
          nrow += 1;
        }
      }
    }
 
    virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data,
                          const Eigen::Ref<const VectorXs>&) override {
      data->Rx.setZero();
      data->Ru.setZero();
    }
 
    virtual std::shared_ptr<ResidualDataAbstract> createData(
        DataCollectorAbstract* const data) override {
      return std::allocate_shared<typename Data::ResidualDataActuation>(
          Eigen::aligned_allocator<typename Data::ResidualDataActuation>(),
          this, data);
    }
 
    template <typename NewScalar>
    typename DifferentialActionModelContactInvDynamicsTpl<
        NewScalar>::ResidualModelActuation
    cast() const {
      typedef typename DifferentialActionModelContactInvDynamicsTpl<
          NewScalar>::ResidualModelActuation ReturnType;
      typedef StateMultibodyTpl<NewScalar> StateType;
      ReturnType ret(std::static_pointer_cast<StateType>(
                         state_->template cast<NewScalar>()),
                     na_, nc_);
      return ret;
    }
 
    virtual void print(std::ostream& os) const override {
      os << "ResidualModelActuation {nx=" << state_->get_nx()
         << ", ndx=" << state_->get_ndx() << ", nu=" << nu_ << ", na=" << na_
         << "}";
    }
 
   protected:
    using Base::nu_;
    using Base::state_;
 
   private:
    std::size_t na_;  
    std::size_t nc_;  
  };
 
 public:
  class ResidualModelContact : public ResidualModelAbstractTpl<_Scalar> {
   public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    CROCODDYL_INNER_DERIVED_CAST(ResidualModelBase,
                                 DifferentialActionModelContactInvDynamicsTpl,
                                 ResidualModelContact)
 
    typedef _Scalar Scalar;
    typedef MathBaseTpl<Scalar> MathBase;
    typedef ResidualModelAbstractTpl<Scalar> Base;
    typedef StateMultibodyTpl<Scalar> StateMultibody;
    typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
    typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
    typedef typename MathBase::VectorXs VectorXs;
    typedef typename MathBase::MatrixXs MatrixXs;
 
    ResidualModelContact(std::shared_ptr<StateMultibody> state,
                         const pinocchio::FrameIndex id, const std::size_t nr,
                         const std::size_t nc)
        : Base(state, nr, state->get_nv() + nc, true, true, true),
          id_(id),
          frame_name_(state->get_pinocchio()->frames[id].name),
          nc_(nc) {}
    virtual ~ResidualModelContact() = default;
 
    void calc(const std::shared_ptr<ResidualDataAbstract>& data,
              const Eigen::Ref<const VectorXs>&,
              const Eigen::Ref<const VectorXs>&) override {
      typename Data::ResidualDataContact* d =
          static_cast<typename Data::ResidualDataContact*>(data.get());
      d->r = d->contact->a0;
    }
 
    virtual void calc(const std::shared_ptr<ResidualDataAbstract>& data,
                      const Eigen::Ref<const VectorXs>&) override {
      data->r.setZero();
    }
 
    void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data,
                  const Eigen::Ref<const VectorXs>&,
                  const Eigen::Ref<const VectorXs>&) override {
      typename Data::ResidualDataContact* d =
          static_cast<typename Data::ResidualDataContact*>(data.get());
      d->Rx = d->contact->da0_dx;
      d->Ru.leftCols(state_->get_nv()) = d->contact->Jc;
    }
 
    virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data,
                          const Eigen::Ref<const VectorXs>&) override {
      data->Rx.setZero();
      data->Ru.setZero();
    }
 
    virtual std::shared_ptr<ResidualDataAbstract> createData(
        DataCollectorAbstract* const data) override {
      return std::allocate_shared<typename Data::ResidualDataContact>(
          Eigen::aligned_allocator<typename Data::ResidualDataContact>(), this,
          data, id_);
    }
 
    template <typename NewScalar>
    typename DifferentialActionModelContactInvDynamicsTpl<
        NewScalar>::ResidualModelContact
    cast() const {
      typedef typename DifferentialActionModelContactInvDynamicsTpl<
          NewScalar>::ResidualModelContact ReturnType;
      typedef StateMultibodyTpl<NewScalar> StateType;
      ReturnType ret(std::static_pointer_cast<StateType>(
                         state_->template cast<NewScalar>()),
                     id_, nr_, nc_);
      return ret;
    }
 
    virtual void print(std::ostream& os) const override {
      os << "ResidualModelContact {frame=" << frame_name_ << ", nr=" << nr_
         << "}";
    }
 
   protected:
    using Base::nr_;
    using Base::nu_;
    using Base::state_;
 
   private:
    pinocchio::FrameIndex id_;  
    std::string frame_name_;    
    std::size_t nc_;            
  };
};
template <typename _Scalar>
struct DifferentialActionDataContactInvDynamicsTpl
    : public DifferentialActionDataAbstractTpl<_Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef DifferentialActionDataAbstractTpl<Scalar> Base;
  typedef JointDataAbstractTpl<Scalar> JointDataAbstract;
  typedef DataCollectorJointActMultibodyInContactTpl<Scalar>
      DataCollectorJointActMultibodyInContact;
  typedef CostDataSumTpl<Scalar> CostDataSum;
  typedef ConstraintDataManagerTpl<Scalar> ConstraintDataManager;
  typedef ContactModelMultipleTpl<Scalar> ContactModelMultiple;
  typedef ContactItemTpl<Scalar> ContactItem;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  template <template <typename Scalar> class Model>
  explicit DifferentialActionDataContactInvDynamicsTpl(
      Model<Scalar>* const model)
      : Base(model),
        pinocchio(pinocchio::DataTpl<Scalar>(model->get_pinocchio())),
        multibody(
            &pinocchio, model->get_actuation()->createData(),
            std::make_shared<JointDataAbstract>(
                model->get_state(), model->get_actuation(), model->get_nu()),
            model->get_contacts()->createData(&pinocchio)),
        tmp_xstatic(model->get_state()->get_nx()),
        tmp_rstatic(model->get_actuation()->get_nu() +
                    model->get_contacts()->get_nc()),
        tmp_Jstatic(model->get_state()->get_nv(),
                    model->get_actuation()->get_nu() +
                        model->get_contacts()->get_nc()) {
    // Set constant values for Fu, df_dx, and df_du
    const std::size_t nv = model->get_state()->get_nv();
    const std::size_t nc = model->get_contacts()->get_nc_total();
    Fu.leftCols(nv).diagonal().setOnes();
    multibody.joint->da_du.leftCols(nv).diagonal().setOnes();
    MatrixXs df_dx = MatrixXs::Zero(nc, model->get_state()->get_ndx());
    MatrixXs df_du = MatrixXs::Zero(nc, model->get_nu());
    std::size_t fid = 0;
    for (typename ContactModelMultiple::ContactModelContainer::const_iterator
             it = model->get_contacts()->get_contacts().begin();
         it != model->get_contacts()->get_contacts().end(); ++it) {
      const std::size_t nc = it->second->contact->get_nc();
      df_du.block(fid, nv + fid, nc, nc).diagonal().setOnes();
      fid += nc;
    }
    std::vector<bool> contact_status;
    for (typename ContactModelMultiple::ContactModelContainer::const_iterator
             it = model->get_contacts()->get_contacts().begin();
         it != model->get_contacts()->get_contacts().end(); ++it) {
      const std::shared_ptr<ContactItem>& m_i = it->second;
      contact_status.push_back(m_i->active);
      m_i->active = true;
    }
    model->get_contacts()->updateForceDiff(multibody.contacts, df_dx, df_du);
    std::size_t cid = 0;
    for (typename ContactModelMultiple::ContactModelContainer::const_iterator
             it = model->get_contacts()->get_contacts().begin();
         it != model->get_contacts()->get_contacts().end(); ++it) {
      const std::shared_ptr<ContactItem>& m_i = it->second;
      m_i->active = contact_status[cid];
      cid++;
    }
    costs = model->get_costs()->createData(&multibody);
    constraints = model->get_constraints()->createData(&multibody);
    costs->shareMemory(this);
    constraints->shareMemory(this);
 
    tmp_xstatic.setZero();
    tmp_rstatic.setZero();
    tmp_Jstatic.setZero();
  }
  virtual ~DifferentialActionDataContactInvDynamicsTpl() = default;
 
  pinocchio::DataTpl<Scalar> pinocchio;                
  DataCollectorJointActMultibodyInContact multibody;   
  std::shared_ptr<CostDataSum> costs;                  
  std::shared_ptr<ConstraintDataManager> constraints;  
  VectorXs
      tmp_xstatic;  
  VectorXs
      tmp_rstatic;  
  MatrixXs tmp_Jstatic;  
 
  using Base::cost;
  using Base::Fu;
  using Base::Fx;
  using Base::Lu;
  using Base::Luu;
  using Base::Lx;
  using Base::Lxu;
  using Base::Lxx;
  using Base::r;
  using Base::xout;
 
  struct ResidualDataActuation : public ResidualDataAbstractTpl<_Scalar> {
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
    typedef _Scalar Scalar;
    typedef MathBaseTpl<Scalar> MathBase;
    typedef ResidualDataAbstractTpl<Scalar> Base;
    typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
    typedef DataCollectorActMultibodyInContactTpl<Scalar>
        DataCollectorActMultibodyInContact;
    typedef ActuationDataAbstractTpl<Scalar> ActuationDataAbstract;
    typedef ContactDataMultipleTpl<Scalar> ContactDataMultiple;
    typedef typename MathBase::MatrixXs MatrixXs;
 
    template <template <typename Scalar> class Model>
    ResidualDataActuation(Model<Scalar>* const model,
                          DataCollectorAbstract* const data)
        : Base(model, data),
          dtau_dx(model->get_state()->get_nv(), model->get_state()->get_ndx()),
          dtau_du(model->get_state()->get_nv(), model->get_nu()) {
      // Check that proper shared data has been passed
      DataCollectorActMultibodyInContact* d =
          dynamic_cast<DataCollectorActMultibodyInContact*>(shared);
      if (d == NULL) {
        throw_pretty(
            "Invalid argument: the shared data should be derived from "
            "DataCollectorActMultibodyInContact");
      }
      // Avoids data casting at runtime
      pinocchio = d->pinocchio;
      actuation = d->actuation;
      contact = d->contacts;
      dtau_dx.setZero();
      dtau_du.setZero();
    }
    virtual ~ResidualDataActuation() = default;
 
    pinocchio::DataTpl<Scalar>* pinocchio;             
    std::shared_ptr<ActuationDataAbstract> actuation;  
    std::shared_ptr<ContactDataMultiple> contact;      
    MatrixXs dtau_dx;
    MatrixXs dtau_du;
    using Base::r;
    using Base::Ru;
    using Base::Rx;
    using Base::shared;
  };
 
  struct ResidualDataContact : public ResidualDataAbstractTpl<_Scalar> {
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
    typedef _Scalar Scalar;
    typedef MathBaseTpl<Scalar> MathBase;
    typedef ResidualDataAbstractTpl<Scalar> Base;
    typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
    typedef DataCollectorMultibodyInContactTpl<Scalar>
        DataCollectorMultibodyInContact;
    typedef ContactModelMultipleTpl<Scalar> ContactModelMultiple;
 
    template <template <typename Scalar> class Model>
    ResidualDataContact(Model<Scalar>* const model,
                        DataCollectorAbstract* const data, const std::size_t id)
        : Base(model, data) {
      DataCollectorMultibodyInContact* d =
          dynamic_cast<DataCollectorMultibodyInContact*>(shared);
      if (d == NULL) {
        throw_pretty(
            "Invalid argument: the shared data should be derived from "
            "DataCollectorMultibodyInContact");
      }
      typename ContactModelMultiple::ContactDataContainer::iterator it, end;
      for (it = d->contacts->contacts.begin(),
          end = d->contacts->contacts.end();
           it != end; ++it) {
        if (id == it->second->frame) {  // TODO(cmastalli): use model->get_id()
                                        // and avoid to pass id in constructor
          contact = it->second.get();
          break;
        }
      }
    }
    virtual ~ResidualDataContact() = default;
 
    ContactDataAbstractTpl<Scalar>* contact;  
    using Base::r;
    using Base::Ru;
    using Base::Rx;
    using Base::shared;
  };
};
}  // namespace crocoddyl
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include <crocoddyl/multibody/actions/contact-invdyn.hxx>
 
CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(
    crocoddyl::DifferentialActionModelContactInvDynamicsTpl)
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(
    crocoddyl::DifferentialActionDataContactInvDynamicsTpl)
 
#endif  // CROCODDYL_MULTIBODY_ACTIONS_CONTACT_INVDYN_HPP_