Crocoddyl
 
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multiple-contacts.hpp
1
2// BSD 3-Clause License
3//
4// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh,
5// Heriot-Watt University
6// Copyright note valid unless otherwise stated in individual files.
7// All rights reserved.
9
10#ifndef CROCODDYL_MULTIBODY_CONTACTS_MULTIPLE_CONTACTS_HPP_
11#define CROCODDYL_MULTIBODY_CONTACTS_MULTIPLE_CONTACTS_HPP_
12
13#include <map>
14#include <set>
15#include <string>
16#include <utility>
17
18#include "crocoddyl/core/utils/exception.hpp"
19#include "crocoddyl/multibody/contact-base.hpp"
20#include "crocoddyl/multibody/fwd.hpp"
21
22namespace crocoddyl {
23
24template <typename _Scalar>
26 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
27
28 typedef _Scalar Scalar;
30
32 ContactItemTpl(const std::string& name,
33 std::shared_ptr<ContactModelAbstract> contact,
34 const bool active = true)
35 : name(name), contact(contact), active(active) {}
36
40 friend std::ostream& operator<<(std::ostream& os,
41 const ContactItemTpl<Scalar>& model) {
42 os << "{" << *model.contact << "}";
43 return os;
44 }
45
46 std::string name;
47 std::shared_ptr<ContactModelAbstract> contact;
48 bool active;
49};
50
59template <typename _Scalar>
61 public:
62 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
63
64 typedef _Scalar Scalar;
70
72
73 typedef typename MathBase::Vector2s Vector2s;
74 typedef typename MathBase::Vector3s Vector3s;
75 typedef typename MathBase::VectorXs VectorXs;
76 typedef typename MathBase::MatrixXs MatrixXs;
77
78 typedef std::map<std::string, std::shared_ptr<ContactItem> >
79 ContactModelContainer;
80 typedef std::map<std::string, std::shared_ptr<ContactDataAbstract> >
81 ContactDataContainer;
82 typedef typename pinocchio::container::aligned_vector<
83 pinocchio::ForceTpl<Scalar> >::iterator ForceIterator;
84
91 ContactModelMultipleTpl(std::shared_ptr<StateMultibody> state,
92 const std::size_t nu);
93
99 ContactModelMultipleTpl(std::shared_ptr<StateMultibody> state);
101
111 void addContact(const std::string& name,
112 std::shared_ptr<ContactModelAbstract> contact,
113 const bool active = true);
114
120 void removeContact(const std::string& name);
121
128 void changeContactStatus(const std::string& name, const bool active);
129
136 void calc(const std::shared_ptr<ContactDataMultiple>& data,
137 const Eigen::Ref<const VectorXs>& x);
138
145 void calcDiff(const std::shared_ptr<ContactDataMultiple>& data,
146 const Eigen::Ref<const VectorXs>& x);
147
155 void updateAcceleration(const std::shared_ptr<ContactDataMultiple>& data,
156 const VectorXs& dv) const;
157
165 void updateForce(const std::shared_ptr<ContactDataMultiple>& data,
166 const VectorXs& force);
167
177 void updateAccelerationDiff(const std::shared_ptr<ContactDataMultiple>& data,
178 const MatrixXs& ddv_dx) const;
179
191 void updateForceDiff(const std::shared_ptr<ContactDataMultiple>& data,
192 const MatrixXs& df_dx, const MatrixXs& df_du) const;
193
204 void updateRneaDiff(const std::shared_ptr<ContactDataMultiple>& data,
205 pinocchio::DataTpl<Scalar>& pinocchio) const;
206
213 std::shared_ptr<ContactDataMultiple> createData(
214 pinocchio::DataTpl<Scalar>* const data);
215
219 const std::shared_ptr<StateMultibody>& get_state() const;
220
224 const ContactModelContainer& get_contacts() const;
225
229 std::size_t get_nc() const;
230
234 std::size_t get_nc_total() const;
235
239 std::size_t get_nu() const;
240
244 const std::set<std::string>& get_active_set() const;
245
249 const std::set<std::string>& get_inactive_set() const;
250
254 bool getContactStatus(const std::string& name) const;
255
262
269 void setComputeAllContacts(const bool status);
270
274 template <class Scalar>
275 friend std::ostream& operator<<(std::ostream& os,
277
278 private:
279 std::shared_ptr<StateMultibody> state_;
280 ContactModelContainer contacts_;
281 std::size_t nc_;
282 std::size_t nc_total_;
283 std::size_t nu_;
284 std::set<std::string> active_set_;
285 std::set<std::string> inactive_set_;
286 bool compute_all_contacts_;
287};
288
294template <typename _Scalar>
296 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
297
298 typedef _Scalar Scalar;
302 typedef typename MathBase::VectorXs VectorXs;
303 typedef typename MathBase::MatrixXs MatrixXs;
304
311 template <template <typename Scalar> class Model>
312 ContactDataMultipleTpl(Model<Scalar>* const model,
313 pinocchio::DataTpl<Scalar>* const data)
314 : Jc(model->get_nc_total(), model->get_state()->get_nv()),
315 a0(model->get_nc_total()),
316 da0_dx(model->get_nc_total(), model->get_state()->get_ndx()),
317 dv(model->get_state()->get_nv()),
318 ddv_dx(model->get_state()->get_nv(), model->get_state()->get_ndx()),
319 fext(model->get_state()->get_pinocchio()->njoints,
320 pinocchio::ForceTpl<Scalar>::Zero()) {
321 Jc.setZero();
322 a0.setZero();
323 da0_dx.setZero();
324 dv.setZero();
325 ddv_dx.setZero();
326 for (typename ContactModelMultiple::ContactModelContainer::const_iterator
327 it = model->get_contacts().begin();
328 it != model->get_contacts().end(); ++it) {
329 const std::shared_ptr<ContactItem>& item = it->second;
330 contacts.insert(
331 std::make_pair(item->name, item->contact->createData(data)));
332 }
333 }
334
335 MatrixXs Jc;
338 VectorXs a0;
341 MatrixXs
346 VectorXs dv;
348 MatrixXs
353 typename ContactModelMultiple::ContactDataContainer
355 pinocchio::container::aligned_vector<pinocchio::ForceTpl<Scalar> >
357};
358
359} // namespace crocoddyl
360
361/* --- Details -------------------------------------------------------------- */
362/* --- Details -------------------------------------------------------------- */
363/* --- Details -------------------------------------------------------------- */
364#include "crocoddyl/multibody/contacts/multiple-contacts.hxx"
365
366#endif // CROCODDYL_MULTIBODY_CONTACTS_MULTIPLE_CONTACTS_HPP_
Define a stack of contact models.
void updateRneaDiff(const std::shared_ptr< ContactDataMultiple > &data, pinocchio::DataTpl< Scalar > &pinocchio) const
Update the RNEA derivatives dtau_dq by adding the skew term (necessary for contacts expressed in LOCA...
friend std::ostream & operator<<(std::ostream &os, const ContactModelMultipleTpl< Scalar > &model)
Print information on the contact models.
std::size_t get_nc() const
Return the dimension of active contacts.
void updateAcceleration(const std::shared_ptr< ContactDataMultiple > &data, const VectorXs &dv) const
Update the constrained system acceleration.
void setComputeAllContacts(const bool status)
Set the tyoe of contact computation: all or active contacts.
bool getComputeAllContacts() const
Return the type of contact computation.
const std::set< std::string > & get_active_set() const
Return the names of the set of active contacts.
const std::set< std::string > & get_inactive_set() const
Return the names of the set of inactive contacts.
const ContactModelContainer & get_contacts() const
Return the contact models.
void calc(const std::shared_ptr< ContactDataMultiple > &data, const Eigen::Ref< const VectorXs > &x)
Compute the contact Jacobian and contact acceleration.
ContactModelMultipleTpl(std::shared_ptr< StateMultibody > state, const std::size_t nu)
Initialize the multi-contact model.
void updateAccelerationDiff(const std::shared_ptr< ContactDataMultiple > &data, const MatrixXs &ddv_dx) const
Update the Jacobian of the constrained system acceleration.
void addContact(const std::string &name, std::shared_ptr< ContactModelAbstract > contact, const bool active=true)
Add contact item.
void updateForceDiff(const std::shared_ptr< ContactDataMultiple > &data, const MatrixXs &df_dx, const MatrixXs &df_du) const
Update the Jacobian of the spatial force defined in frame coordinate.
void changeContactStatus(const std::string &name, const bool active)
Change the contact status.
void removeContact(const std::string &name)
Remove contact item.
bool getContactStatus(const std::string &name) const
Return the status of a given contact name.
std::size_t get_nc_total() const
Return the dimension of all contacts.
const std::shared_ptr< StateMultibody > & get_state() const
Return the multibody state.
std::shared_ptr< ContactDataMultiple > createData(pinocchio::DataTpl< Scalar > *const data)
Create the multi-contact data.
void updateForce(const std::shared_ptr< ContactDataMultiple > &data, const VectorXs &force)
Update the spatial force defined in frame coordinate.
void calcDiff(const std::shared_ptr< ContactDataMultiple > &data, const Eigen::Ref< const VectorXs > &x)
Compute the derivatives of the contact holonomic constraint.
ContactModelMultipleTpl(std::shared_ptr< StateMultibody > state)
Initialize the multi-contact model.
std::size_t get_nu() const
Return the dimension of control vector.
State multibody representation.
Definition multibody.hpp:35
Define the multi-contact data.
ContactModelMultiple::ContactDataContainer contacts
Stack of contact data.
ContactDataMultipleTpl(Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data)
Initialized a multi-contact data.
pinocchio::container::aligned_vector< pinocchio::ForceTpl< Scalar > > fext
External spatial forces in body coordinates.
friend std::ostream & operator<<(std::ostream &os, const ContactItemTpl< Scalar > &model)
Print information on the contact item.