impulse-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_IMPULSE_BASE_HPP_
#define CROCODDYL_MULTIBODY_IMPULSE_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 ImpulseModelBase {
 public:
  virtual ~ImpulseModelBase() = default;
 
  CROCODDYL_BASE_CAST(ImpulseModelBase, ImpulseModelAbstractTpl)
};
 
template <typename _Scalar>
class ImpulseModelAbstractTpl : public ImpulseModelBase {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ImpulseDataAbstractTpl<Scalar> ImpulseDataAbstract;
  typedef StateMultibodyTpl<Scalar> StateMultibody;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  ImpulseModelAbstractTpl(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",
      ImpulseModelAbstractTpl(std::shared_ptr<StateMultibody> state,
                              const std::size_t nc);)
  virtual ~ImpulseModelAbstractTpl() = default;
 
  virtual void calc(const std::shared_ptr<ImpulseDataAbstract>& data,
                    const Eigen::Ref<const VectorXs>& x) = 0;
  virtual void calcDiff(const std::shared_ptr<ImpulseDataAbstract>& data,
                        const Eigen::Ref<const VectorXs>& x) = 0;
 
  virtual void updateForce(const std::shared_ptr<ImpulseDataAbstract>& data,
                           const VectorXs& force) = 0;
  void updateForceDiff(const std::shared_ptr<ImpulseDataAbstract>& data,
                       const MatrixXs& df_dx) const;
  void setZeroForce(const std::shared_ptr<ImpulseDataAbstract>& data) const;
  void setZeroForceDiff(const std::shared_ptr<ImpulseDataAbstract>& data) const;
 
  virtual std::shared_ptr<ImpulseDataAbstract> createData(
      pinocchio::DataTpl<Scalar>* const data);
 
  const std::shared_ptr<StateMultibody>& get_state() const;
  std::size_t get_nc() const;
  DEPRECATED("Use get_nc().", std::size_t get_ni() 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 ImpulseModelAbstractTpl<Scalar>& model);
 
  virtual void print(std::ostream& os) const;
 
 protected:
  std::shared_ptr<StateMultibody> state_;
  std::size_t nc_;
  pinocchio::FrameIndex id_;        
  pinocchio::ReferenceFrame type_;  
  ImpulseModelAbstractTpl() : state_(nullptr), nc_(0), id_(0) {};
};
 
template <typename _Scalar>
struct ImpulseDataAbstractTpl : 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>
  ImpulseDataAbstractTpl(Model<Scalar>* const model,
                         pinocchio::DataTpl<Scalar>* const data)
      : Base(model, data),
        dv0_dq(model->get_nc(), model->get_state()->get_nv()),
        dtau_dq(model->get_state()->get_nv(), model->get_state()->get_nv()) {
    dv0_dq.setZero();
    dtau_dq.setZero();
  }
  virtual ~ImpulseDataAbstractTpl() = default;
 
  using Base::df_dx;
  using Base::f;
  using Base::frame;
  using Base::Jc;
  using Base::jMf;
  using Base::pinocchio;
 
  typename SE3::ActionMatrixType fXj;
  MatrixXs dv0_dq;
  MatrixXs dtau_dq;
};
 
}  // namespace crocoddyl
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/multibody/impulse-base.hxx"
 
CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::ImpulseModelAbstractTpl)
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::ImpulseDataAbstractTpl)
 
#endif  // CROCODDYL_MULTIBODY_IMPULSE_BASE_HPP_