Crocoddyl
 
Loading...
Searching...
No Matches
contact-wrench-cone.hpp
1
2// BSD 3-Clause License
3//
4// Copyright (C) 2020-2025, University of Edinburgh, Heriot-Watt University
5// Copyright note valid unless otherwise stated in individual files.
6// All rights reserved.
8
9#ifndef CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_WRENCH_CONE_HPP_
10#define CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_WRENCH_CONE_HPP_
11
12#include "crocoddyl/core/residual-base.hpp"
13#include "crocoddyl/multibody/contact-base.hpp"
14#include "crocoddyl/multibody/contacts/contact-3d.hpp"
15#include "crocoddyl/multibody/contacts/contact-6d.hpp"
16#include "crocoddyl/multibody/contacts/multiple-contacts.hpp"
17#include "crocoddyl/multibody/data/contacts.hpp"
18#include "crocoddyl/multibody/data/impulses.hpp"
19#include "crocoddyl/multibody/fwd.hpp"
20#include "crocoddyl/multibody/impulse-base.hpp"
21#include "crocoddyl/multibody/impulses/impulse-3d.hpp"
22#include "crocoddyl/multibody/impulses/impulse-6d.hpp"
23#include "crocoddyl/multibody/impulses/multiple-impulses.hpp"
24#include "crocoddyl/multibody/states/multibody.hpp"
25#include "crocoddyl/multibody/wrench-cone.hpp"
26
27namespace crocoddyl {
28
53template <typename _Scalar>
55 : public ResidualModelAbstractTpl<_Scalar> {
56 public:
57 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
59
60 typedef _Scalar Scalar;
68 typedef typename MathBase::VectorXs VectorXs;
69 typedef typename MathBase::MatrixXs MatrixXs;
70 typedef typename MathBase::MatrixX6s MatrixX6s;
71
85 ResidualModelContactWrenchConeTpl(std::shared_ptr<StateMultibody> state,
86 const pinocchio::FrameIndex id,
87 const WrenchCone& fref,
88 const std::size_t nu,
89 const bool fwddyn = true);
90
101 ResidualModelContactWrenchConeTpl(std::shared_ptr<StateMultibody> state,
102 const pinocchio::FrameIndex id,
103 const WrenchCone& fref);
104 virtual ~ResidualModelContactWrenchConeTpl() = default;
105
118 virtual void calc(const std::shared_ptr<ResidualDataAbstract>& data,
119 const Eigen::Ref<const VectorXs>& x,
120 const Eigen::Ref<const VectorXs>& u) override;
121
132 virtual void calc(const std::shared_ptr<ResidualDataAbstract>& data,
133 const Eigen::Ref<const VectorXs>& x) override;
134
147 virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data,
148 const Eigen::Ref<const VectorXs>& x,
149 const Eigen::Ref<const VectorXs>& u) override;
150
162 virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data,
163 const Eigen::Ref<const VectorXs>& x) override;
164
171 virtual std::shared_ptr<ResidualDataAbstract> createData(
172 DataCollectorAbstract* const data) override;
173
179 void updateJacobians(const std::shared_ptr<ResidualDataAbstract>& data);
180
191 template <typename NewScalar>
193
198 bool is_fwddyn() const;
199
203 pinocchio::FrameIndex get_id() const;
204
208 const WrenchCone& get_reference() const;
209
213 DEPRECATED("Do not use set_id, instead create a new model",
214 void set_id(const pinocchio::FrameIndex id);)
215
219 void set_reference(const WrenchCone& reference);
220
226 virtual void print(std::ostream& os) const override;
227
228 protected:
229 using Base::nu_;
230 using Base::state_;
231
232 private:
233 bool fwddyn_;
235 bool update_jacobians_;
237 pinocchio::FrameIndex id_;
238 WrenchCone fref_;
239};
240
241template <typename _Scalar>
243 : public ResidualDataAbstractTpl<_Scalar> {
244 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
245
246 typedef _Scalar Scalar;
253 typedef typename MathBase::MatrixXs MatrixXs;
254
255 template <template <typename Scalar> class Model>
256 ResidualDataContactWrenchConeTpl(Model<Scalar>* const model,
257 DataCollectorAbstract* const data)
258 : Base(model, data) {
259 // Check that proper shared data has been passed
260 bool is_contact = true;
265 if (d1 == NULL && d2 == NULL) {
266 throw_pretty(
267 "Invalid argument: the shared data should be derived from "
268 "DataCollectorContact or DataCollectorImpulse");
269 }
270 if (d2 != NULL) {
271 is_contact = false;
272 }
273
274 // Avoids data casting at runtime
275 const pinocchio::FrameIndex id = model->get_id();
276 const std::shared_ptr<StateMultibody>& state =
277 std::static_pointer_cast<StateMultibody>(model->get_state());
278 std::string frame_name = state->get_pinocchio()->frames[id].name;
279 bool found_contact = false;
280 if (is_contact) {
281 for (typename ContactModelMultiple::ContactDataContainer::iterator it =
282 d1->contacts->contacts.begin();
283 it != d1->contacts->contacts.end(); ++it) {
284 if (it->second->frame == id) {
286 dynamic_cast<ContactData3DTpl<Scalar>*>(it->second.get());
287 if (d3d != NULL) {
288 found_contact = true;
289 contact = it->second;
290 throw_pretty(
291 "Domain error: there isn't defined at least a 6d contact for " +
292 frame_name);
293 break;
294 }
296 dynamic_cast<ContactData6DTpl<Scalar>*>(it->second.get());
297 if (d6d != NULL) {
298 found_contact = true;
299 contact = it->second;
300 break;
301 }
302 throw_pretty(
303 "Domain error: there isn't defined at least a 6d contact for " +
304 frame_name);
305 break;
306 }
307 }
308 } else {
309 for (typename ImpulseModelMultiple::ImpulseDataContainer::iterator it =
310 d2->impulses->impulses.begin();
311 it != d2->impulses->impulses.end(); ++it) {
312 if (it->second->frame == id) {
314 dynamic_cast<ImpulseData3DTpl<Scalar>*>(it->second.get());
315 if (d3d != NULL) {
316 found_contact = true;
317 contact = it->second;
318 throw_pretty(
319 "Domain error: there isn't defined at least a 6d contact for " +
320 frame_name);
321 break;
322 }
324 dynamic_cast<ImpulseData6DTpl<Scalar>*>(it->second.get());
325 if (d6d != NULL) {
326 found_contact = true;
327 contact = it->second;
328 break;
329 }
330 throw_pretty(
331 "Domain error: there isn't defined at least a 6d contact for " +
332 frame_name);
333 break;
334 }
335 }
336 }
337 if (!found_contact) {
338 throw_pretty("Domain error: there isn't defined contact data for " +
339 frame_name);
340 }
341 }
342 virtual ~ResidualDataContactWrenchConeTpl() = default;
343
344 std::shared_ptr<ForceDataAbstractTpl<Scalar> >
346 using Base::r;
347 using Base::Ru;
348 using Base::Rx;
349 using Base::shared;
350};
351
352} // namespace crocoddyl
353
354/* --- Details -------------------------------------------------------------- */
355/* --- Details -------------------------------------------------------------- */
356/* --- Details -------------------------------------------------------------- */
357#include "crocoddyl/multibody/residuals/contact-wrench-cone.hxx"
358
359CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(
361CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(
363
364#endif // CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_WRENCH_CONE_HPP_
Define a stack of contact models.
Define a stack of impulse models.
Abstract class for residual models.
std::shared_ptr< StateAbstract > state_
State description.
std::size_t nu_
Control dimension.
Contact wrench cone residual function.
ResidualModelContactWrenchConeTpl(std::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const WrenchCone &fref)
Initialize the contact wrench cone residual model.
const WrenchCone & get_reference() const
Return the reference contact wrench cone.
bool is_fwddyn() const
Indicates if we are using the forward-dynamics (true) or inverse-dynamics (false)
virtual void calc(const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) override
Compute the residual vector for nodes that depends only on the state.
virtual void calcDiff(const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) override
Compute the derivatives of the contact wrench cone residual.
virtual std::shared_ptr< ResidualDataAbstract > createData(DataCollectorAbstract *const data) override
Create the contact wrench cone residual data.
ResidualModelContactWrenchConeTpl< NewScalar > cast() const
Cast the contact-wrench-cone residual model to a different scalar type.
pinocchio::FrameIndex get_id() const
Return the reference frame id.
DEPRECATED("Do not use set_id, instead create a new model", void set_id(const pinocchio::FrameIndex id);) void set_reference(const WrenchCone &reference)
Modify the reference frame id.
void updateJacobians(const std::shared_ptr< ResidualDataAbstract > &data)
Update the Jacobians of the contact friction cone residual.
virtual void calc(const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) override
Compute the contact wrench cone residual.
virtual void print(std::ostream &os) const override
Print relevant information of the contact-wrench-cone residual.
ResidualModelContactWrenchConeTpl(std::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const WrenchCone &fref, const std::size_t nu, const bool fwddyn=true)
Initialize the contact wrench cone residual model.
virtual void calcDiff(const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) override
Compute the Jacobian of the residual functions with respect to the state only.
State multibody representation.
Definition multibody.hpp:34
This class encapsulates a wrench cone.
MatrixXs Ru
Jacobian of the residual vector with respect the control.
MatrixXs Rx
Jacobian of the residual vector with respect the state.
DataCollectorAbstract * shared
Shared data allocated by the action model.
std::shared_ptr< ForceDataAbstractTpl< Scalar > > contact
Contact force data.
DataCollectorAbstract * shared
Shared data allocated by the action model.