Inheritance diagram for ContactModel1DTpl< _Scalar >:

Public Types
typedef ContactModelAbstractTpl< Scalar >	Base

typedef ContactDataAbstractTpl< Scalar >	ContactDataAbstract

typedef ContactData1DTpl< Scalar >	Data

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::Matrix3s	Matrix3s

typedef StateMultibodyTpl< Scalar >	StateMultibody

typedef MathBase::Vector2s	Vector2s

typedef MathBase::Vector3s	Vector3s

typedef MathBase::VectorXs	VectorXs

Public Types inherited from ContactModelAbstractTpl< _Scalar >
typedef ContactDataAbstractTpl< Scalar >	ContactDataAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef StateMultibodyTpl< Scalar >	StateMultibody

typedef MathBase::VectorXs	VectorXs

Public Member Functions
	ContactModel1DTpl (std::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Scalar xref, const pinocchio::ReferenceFrame type, const Matrix3s &rotation, const std::size_t nu, const Vector2s &gains=Vector2s::Zero())
	Initialize the 1d contact model.

	ContactModel1DTpl (std::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Scalar xref, const pinocchio::ReferenceFrame type, const Vector2s &gains=Vector2s::Zero())
	Initialize the 1d contact model.

this assumes is	ContactModel1DTpl (std::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Scalar xref, const Vector2s &gains=Vector2s::Zero())

virtual void	calc (const std::shared_ptr< ContactDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
	Compute the 1d contact Jacobian and drift.

virtual void	calcDiff (const std::shared_ptr< ContactDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
	Compute the derivatives of the 1d contact holonomic constraint.

virtual std::shared_ptr< ContactDataAbstract >	createData (pinocchio::DataTpl< Scalar > *const data)
	Create the 1d contact data.

	DEPRECATED ("Use constructor that passes the type type of contact, this assumes is " "pinocchio::LOCAL", ContactModel1DTpl(std::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Scalar xref, const std::size_t nu, const Vector2s &gains=Vector2s::Zero());) DEPRECATED("Use const ructor that passes the type type of contact

const Matrix3s &	get_axis_rotation () const
	Return the rotation of the reference frames's z axis.

const Vector2s &	get_gains () const
	Create the 1d contact data.

const Scalar	get_reference () const
	Return the reference frame translation.

virtual void	print (std::ostream &os) const
	Print relevant information of the 1d contact model.

void	set_axis_rotation (const Matrix3s &rotation)
	Modify the rotation of the reference frames's z axis.

void	set_reference (const Scalar reference)
	Modify the reference frame translation.

virtual void	updateForce (const std::shared_ptr< ContactDataAbstract > &data, const VectorXs &force)
	Convert the force into a stack of spatial forces.

Public Member Functions inherited from ContactModelAbstractTpl< _Scalar >
	ContactModelAbstractTpl (std::shared_ptr< StateMultibody > state, const pinocchio::ReferenceFrame type, const std::size_t nc)

	ContactModelAbstractTpl (std::shared_ptr< StateMultibody > state, const pinocchio::ReferenceFrame type, const std::size_t nc, const std::size_t nu)
	Initialize the contact abstraction.

this assumes is	ContactModelAbstractTpl (std::shared_ptr< StateMultibody > state, const std::size_t nc)

	DEPRECATED ("Use constructor that passes the type type of contact, this assumes is " "pinocchio::LOCAL", ContactModelAbstractTpl(std::shared_ptr< StateMultibody > state, const std::size_t nc, const std::size_t nu);) DEPRECATED("Use const ructor that passes the type type of contact

pinocchio::FrameIndex	get_id () const
	Return the reference frame id.

std::size_t	get_nc () const
	Return the dimension of the contact.

std::size_t	get_nu () const
	Return the dimension of the control vector.

const std::shared_ptr< StateMultibody > &	get_state () const
	Return the state.

pinocchio::ReferenceFrame	get_type () const
	Return the type of contact.

void	set_id (const pinocchio::FrameIndex id)
	Modify the reference frame id.

void	set_type (const pinocchio::ReferenceFrame type)
	Modify the type of contact.

void	setZeroForce (const std::shared_ptr< ContactDataAbstract > &data) const
	Set the stack of spatial forces to zero.

void	setZeroForceDiff (const std::shared_ptr< ContactDataAbstract > &data) const
	Set the stack of spatial forces Jacobians to zero.

void	updateForceDiff (const std::shared_ptr< ContactDataAbstract > &data, const MatrixXs &df_dx, const MatrixXs &df_du) const
	Convert the force into a stack of spatial forces.

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Public Attributes inherited from ContactModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Protected Attributes
pinocchio::FrameIndex	id_
	Reference frame id of the contact.

std::size_t	nc_

std::size_t	nu_

std::shared_ptr< StateMultibody >	state_

pinocchio::ReferenceFrame	type_
	Type of contact.

Protected Attributes inherited from ContactModelAbstractTpl< _Scalar >
pinocchio::FrameIndex	id_
	Reference frame id of the contact.

std::size_t	nc_

std::size_t	nu_

std::shared_ptr< StateMultibody >	state_

pinocchio::ReferenceFrame	type_
	Type of contact.

Detailed Description

template<typename _Scalar>
class crocoddyl::ContactModel1DTpl< _Scalar >

Definition at line 25 of file contact-1d.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 30 of file contact-1d.hpp.

◆ Base

template<typename _Scalar >

typedef ContactModelAbstractTpl<Scalar> Base

Definition at line 31 of file contact-1d.hpp.

◆ Data

template<typename _Scalar >

typedef ContactData1DTpl<Scalar> Data

Definition at line 32 of file contact-1d.hpp.

◆ StateMultibody

template<typename _Scalar >

typedef StateMultibodyTpl<Scalar> StateMultibody

Definition at line 33 of file contact-1d.hpp.

◆ ContactDataAbstract

template<typename _Scalar >

typedef ContactDataAbstractTpl<Scalar> ContactDataAbstract

Definition at line 34 of file contact-1d.hpp.

◆ Vector2s

template<typename _Scalar >

typedef MathBase::Vector2s Vector2s

Definition at line 35 of file contact-1d.hpp.

◆ Vector3s

template<typename _Scalar >

typedef MathBase::Vector3s Vector3s

Definition at line 36 of file contact-1d.hpp.

◆ VectorXs

template<typename _Scalar >

typedef MathBase::VectorXs VectorXs

Definition at line 37 of file contact-1d.hpp.

◆ Matrix3s

template<typename _Scalar >

typedef MathBase::Matrix3s Matrix3s

Definition at line 38 of file contact-1d.hpp.

Constructor & Destructor Documentation

◆ ContactModel1DTpl() [1/2]

template<typename _Scalar >

ContactModel1DTpl	(	std::shared_ptr< StateMultibody >	state,
		const pinocchio::FrameIndex	id,
		const Scalar	xref,
		const pinocchio::ReferenceFrame	type,
		const Matrix3s &	rotation,
		const std::size_t	nu,
		const Vector2s &	gains = `Vector2s::Zero()`
	)

Initialize the 1d contact model.

To learn more about the computation of the contact derivatives in different frames see S. Kleff et. al, On the Derivation of the Contact Dynamics in Arbitrary Frames: Application to Polishing with Talos, ICHR 2022

Parameters

[in]	state	State of the multibody system
[in]	id	Reference frame id of the contact
[in]	xref	Contact position used for the Baumgarte stabilization
[in]	type	Type of contact
[in]	rotation	Rotation of the reference frame's z-axis
[in]	nu	Dimension of the control vector
[in]	gains	Baumgarte stabilization gains

◆ ContactModel1DTpl() [2/2]

template<typename _Scalar >

ContactModel1DTpl	(	std::shared_ptr< StateMultibody >	state,
		const pinocchio::FrameIndex	id,
		const Scalar	xref,
		const pinocchio::ReferenceFrame	type,
		const Vector2s &	gains = `Vector2s::Zero()`
	)

Initialize the 1d contact model.

The default nu is obtained from StateAbstractTpl::get_nv(). To learn more about the computation of the contact derivatives in different frames see S. Kleff et. al, On the Derivation of the Contact Dynamics in Arbitrary Frames: Application to Polishing with Talos, ICHR 2022

Parameters

[in]	state	State of the multibody system
[in]	id	Reference frame id of the contact
[in]	xref	Contact position used for the Baumgarte stabilization
[in]	type	Type of contact
[in]	gains	Baumgarte stabilization gains

Member Function Documentation

◆ calc()

template<typename _Scalar >

virtual void calc	(	const std::shared_ptr< ContactDataAbstract > &	data,
		const Eigen::Ref< const VectorXs > &	x
	)

virtual

Compute the 1d contact Jacobian and drift.

Parameters

[in]	data	1d contact data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]	u	Control input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Implements ContactModelAbstractTpl< _Scalar >.

◆ calcDiff()

template<typename _Scalar >

virtual void calcDiff	(	const std::shared_ptr< ContactDataAbstract > &	data,
		const Eigen::Ref< const VectorXs > &	x
	)

virtual

Compute the derivatives of the 1d contact holonomic constraint.

Parameters

[in]	data	1d contact data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]	u	Control input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Implements ContactModelAbstractTpl< _Scalar >.

◆ updateForce()

template<typename _Scalar >

virtual void updateForce	(	const std::shared_ptr< ContactDataAbstract > &	data,
		const VectorXs &	force
	)

virtual

Convert the force into a stack of spatial forces.

Parameters

[in]	data	1d contact data
[in]	force	1d force

Implements ContactModelAbstractTpl< _Scalar >.

◆ createData()

template<typename _Scalar >

virtual std::shared_ptr< ContactDataAbstract > createData ( pinocchio::DataTpl< Scalar > *const data )

virtual

Create the 1d contact data.

Reimplemented from ContactModelAbstractTpl< _Scalar >.

◆ print()

template<typename _Scalar >

virtual void print ( std::ostream & os ) const

virtual

Print relevant information of the 1d contact model.

Parameters

[out] os Output stream object

Reimplemented from ContactModelAbstractTpl< _Scalar >.

Member Data Documentation

◆ Scalar

template<typename _Scalar >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 29 of file contact-1d.hpp.

◆ id_

template<typename _Scalar >

pinocchio::FrameIndex id_

protected

Reference frame id of the contact.

Definition at line 173 of file contact-base.hpp.

◆ nc_

template<typename _Scalar >

std::size_t nc_

protected

Definition at line 171 of file contact-base.hpp.

◆ nu_

template<typename _Scalar >

std::size_t nu_

protected

Definition at line 172 of file contact-base.hpp.

◆ state_

template<typename _Scalar >

std::shared_ptr<StateMultibody> state_

protected

Definition at line 170 of file contact-base.hpp.

◆ type_

template<typename _Scalar >

pinocchio::ReferenceFrame type_

protected

Type of contact.

Definition at line 174 of file contact-base.hpp.

The documentation for this class was generated from the following file:

/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/multibody/contacts/contact-1d.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ MathBase

◆ Base

◆ Data

◆ StateMultibody

◆ ContactDataAbstract

◆ Vector2s

◆ Vector3s

◆ VectorXs

◆ Matrix3s

Constructor & Destructor Documentation

◆ ContactModel1DTpl() [1/2]

◆ ContactModel1DTpl() [2/2]

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ updateForce()

◆ createData()

◆ print()

Member Data Documentation

◆ Scalar

◆ id_

◆ nc_

◆ nu_

◆ state_

◆ type_