contact.hpp

// BSD 3-Clause License
//
// Copyright (C) 2019-2025, University of Edinburgh, LAAS-CNRS,
//                          Heriot-Watt University
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
 
#ifndef CROCODDYL_MULTIBODY_NUMDIFF_CONTACT_HPP_
#define CROCODDYL_MULTIBODY_NUMDIFF_CONTACT_HPP_
 
#include <boost/function.hpp>
 
#include "crocoddyl/multibody/contact-base.hpp"
#include "crocoddyl/multibody/fwd.hpp"
 
namespace crocoddyl {
 
template <typename _Scalar>
class ContactModelNumDiffTpl : public ContactModelAbstractTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  CROCODDYL_DERIVED_CAST(ContactModelBase, ContactModelNumDiffTpl)
 
  typedef _Scalar Scalar;
  typedef ContactDataAbstractTpl<Scalar> ContactDataAbstract;
  typedef ContactModelAbstractTpl<Scalar> Base;
  typedef ContactDataNumDiffTpl<Scalar> Data;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef typename MathBaseTpl<Scalar>::VectorXs VectorXs;
  typedef boost::function<void(const VectorXs&, const VectorXs&)>
      ReevaluationFunction;
 
  explicit ContactModelNumDiffTpl(const std::shared_ptr<Base>& model);
 
  virtual ~ContactModelNumDiffTpl() = default;
 
  void calc(const std::shared_ptr<ContactDataAbstract>& data,
            const Eigen::Ref<const VectorXs>& x) override;
 
  void calcDiff(const std::shared_ptr<ContactDataAbstract>& data,
                const Eigen::Ref<const VectorXs>& x) override;
 
  void updateForce(const std::shared_ptr<ContactDataAbstract>& data,
                   const VectorXs& force) override;
 
  std::shared_ptr<ContactDataAbstract> createData(
      pinocchio::DataTpl<Scalar>* const data) override;
 
  template <typename NewScalar>
  ContactModelNumDiffTpl<NewScalar> cast() const;
 
  const std::shared_ptr<Base>& get_model() const;
 
  const Scalar get_disturbance() const;
 
  void set_disturbance(const Scalar disturbance);
 
  void set_reevals(const std::vector<ReevaluationFunction>& reevals);
 
 protected:
  using Base::nc_;
  using Base::nu_;
  using Base::state_;
 
  std::shared_ptr<Base> model_;  
  Scalar e_jac_;  
  std::vector<ReevaluationFunction>
      reevals_;  
 
 private:
  void assertStableStateFD(const Eigen::Ref<const VectorXs>& /*x*/);
};
 
template <typename _Scalar>
struct ContactDataNumDiffTpl : public ContactDataAbstractTpl<_Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ContactDataAbstractTpl<Scalar> Base;
  typedef typename MathBaseTpl<Scalar>::VectorXs VectorXs;
 
  template <template <typename Scalar> class Model>
  explicit ContactDataNumDiffTpl(Model<Scalar>* const model,
                                 pinocchio::DataTpl<Scalar>* const data)
      : Base(model, data),
        dx(model->get_state()->get_ndx()),
        xp(model->get_state()->get_nx()) {
    dx.setZero();
    xp.setZero();
 
    const std::size_t ndx = model->get_model()->get_state()->get_ndx();
    data_0 = model->get_model()->createData(data);
    for (std::size_t i = 0; i < ndx; ++i) {
      data_x.push_back(model->get_model()->createData(data));
    }
  }
 
  virtual ~ContactDataNumDiffTpl() {}
 
  using Base::a0;
  using Base::da0_dx;
  using Base::f;
  using Base::pinocchio;
 
  Scalar x_norm;  
  Scalar
      xh_jac;  
  VectorXs dx;  
  VectorXs xp;  
  std::shared_ptr<Base> data_0;  
  std::vector<std::shared_ptr<Base> >
      data_x;  
};
 
}  // namespace crocoddyl
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/multibody/numdiff/contact.hxx"
 
#endif  // CROCODDYL_MULTIBODY_NUMDIFF_CONTACT_HPP_