pair-collision.hpp

 
// BSD 3-Clause License
//
// Copyright (C) 2021-2025, LAAS-CNRS, University of Edinburgh, INRIA,
//                          Heriot-Watt University
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
 
#ifndef CROCODDYL_MULTIBODY_RESIDUALS_PAIR_COLLISION_HPP_
#define CROCODDYL_MULTIBODY_RESIDUALS_PAIR_COLLISION_HPP_
 
#ifdef CROCODDYL_WITH_PAIR_COLLISION
 
#ifdef PINOCCHIO_WITH_HPP_FCL
 
#include "crocoddyl/core/residual-base.hpp"
#include "crocoddyl/multibody/data/multibody.hpp"
#include "crocoddyl/multibody/states/multibody.hpp"
 
namespace crocoddyl {
 
template <typename _Scalar>
class ResidualModelPairCollisionTpl : public ResidualModelAbstractTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  CROCODDYL_DERIVED_CAST(ResidualModelBase, ResidualModelPairCollisionTpl)
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ResidualModelAbstractTpl<Scalar> Base;
  typedef ResidualDataPairCollisionTpl<Scalar> Data;
  typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
  typedef StateMultibodyTpl<Scalar> StateMultibody;
  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
  typedef pinocchio::GeometryModel GeometryModel;
 
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  ResidualModelPairCollisionTpl(std::shared_ptr<StateMultibody> state,
                                const std::size_t nu,
                                std::shared_ptr<GeometryModel> geom_model,
                                const pinocchio::PairIndex pair_id,
                                const pinocchio::JointIndex joint_id);
 
  virtual ~ResidualModelPairCollisionTpl() = 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 calcDiff(const std::shared_ptr<ResidualDataAbstract> &data,
                        const Eigen::Ref<const VectorXs> &x,
                        const Eigen::Ref<const VectorXs> &u) override;
 
  virtual std::shared_ptr<ResidualDataAbstract> createData(
      DataCollectorAbstract *const data) override;
 
  template <typename NewScalar>
  ResidualModelPairCollisionTpl<NewScalar> cast() const;
 
  const pinocchio::GeometryModel &get_geometry() const;
 
  pinocchio::PairIndex get_pair_id() const;
 
  void set_pair_id(const pinocchio::PairIndex pair_id);
 
 protected:
  using Base::nu_;
  using Base::state_;
  using Base::v_dependent_;
 
 private:
  typename StateMultibody::PinocchioModel
      pin_model_;  
  std::shared_ptr<pinocchio::GeometryModel>
      geom_model_;  
  pinocchio::PairIndex
      pair_id_;  
  pinocchio::JointIndex joint_id_;  
};
 
template <typename _Scalar>
struct ResidualDataPairCollisionTpl : public ResidualDataAbstractTpl<_Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ResidualDataAbstractTpl<Scalar> Base;
  typedef StateMultibodyTpl<Scalar> StateMultibody;
  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
 
  typedef typename MathBase::Matrix6xs Matrix6xs;
  typedef typename MathBase::Vector3s Vector3s;
 
  template <template <typename Scalar> class Model>
  ResidualDataPairCollisionTpl(Model<Scalar> *const model,
                               DataCollectorAbstract *const data)
      : Base(model, data),
        geometry(pinocchio::GeometryData(model->get_geometry())),
        J(6, model->get_state()->get_nv()) {
    d.setZero();
    J.setZero();
    // Check that proper shared data has been passed
    DataCollectorMultibodyTpl<Scalar> *d =
        dynamic_cast<DataCollectorMultibodyTpl<Scalar> *>(shared);
    if (d == NULL) {
      throw_pretty(
          "Invalid argument: the shared data should be derived from "
          "DataCollectorActMultibodyTpl");
    }
    // Avoids data casting at runtime
    pinocchio = d->pinocchio;
  }
  virtual ~ResidualDataPairCollisionTpl() = default;
 
  pinocchio::GeometryData geometry;       
  pinocchio::DataTpl<Scalar> *pinocchio;  
  Matrix6xs J;                            
  Vector3s d;  
  using Base::r;
  using Base::Ru;
  using Base::Rx;
  using Base::shared;
};
 
}  // namespace crocoddyl
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/multibody/residuals/pair-collision.hxx"
 
#endif  // PINOCCHIO_WITH_HPP_FCL
 
#else
 
CROCODDYL_PRAGMA_WARNING(
    "This header is currently disabled as Pinocchio does not support casting "
    "of GeometryData")
 
#endif  // CROCODDYL_WITH_PAIR_COLLISION
 
#endif  // CROCODDYL_MULTIBODY_RESIDUALS_PAIR_COLLISION_HPP_