Define a stack of contact models. More...

#include <sobec/crocomplements/contact/multiple-contacts.hpp>

Inheritance diagram for sobec::newcontacts::ContactModelMultipleTpl< _Scalar >:

Collaboration diagram for sobec::newcontacts::ContactModelMultipleTpl< _Scalar >:

Public Types
typedef crocoddyl::ContactModelMultipleTpl< Scalar >	Base

typedef crocoddyl::MathBaseTpl< Scalar >	MathBase

typedef crocoddyl::StateMultibodyTpl< Scalar >	StateMultibody

typedef crocoddyl::ContactDataAbstractTpl< Scalar >	ContactDataAbstract

typedef crocoddyl::ContactDataMultipleTpl< Scalar >	ContactDataMultiple

typedef crocoddyl::ContactModelAbstractTpl< Scalar >	ContactModelAbstract

typedef crocoddyl::ContactItemTpl< Scalar >	ContactItem

typedef MathBase::Vector2s	Vector2s

typedef MathBase::Vector3s	Vector3s

typedef MathBase::VectorXs	VectorXs

typedef MathBase::MatrixXs	MatrixXs

typedef MathBase::Matrix3s	Matrix3s

typedef std::map< std::string, boost::shared_ptr< ContactItem > >	ContactModelContainer

typedef std::map< std::string, boost::shared_ptr< ContactDataAbstract > >	ContactDataContainer

typedef pinocchio::container::aligned_vector< pinocchio::ForceTpl< Scalar > >::iterator	ForceIterator

Public Member Functions
	ContactModelMultipleTpl (boost::shared_ptr< StateMultibody > state, const std::size_t nu)
	Initialize the multi-contact model. More...

	ContactModelMultipleTpl (boost::shared_ptr< StateMultibody > state)
	Initialize the multi-contact model. More...

	~ContactModelMultipleTpl ()

void	updateForceDiff (const boost::shared_ptr< ContactDataMultiple > &data, const boost::shared_ptr< MatrixXs > df_dx, const boost::shared_ptr< MatrixXs > df_du) const
	Update the Jacobian of the spatial force defined in frame coordinate. More...

void	updateRneaDerivatives (const boost::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 LOCAL_WORLD_ALIGNED) More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Detailed Description

template<typename _Scalar>
class sobec::newcontacts::ContactModelMultipleTpl< _Scalar >

Define a stack of contact models.

The contact models can be defined with active and inactive status. The idea behind this design choice is to be able to create a mechanism that allocates the entire data needed for the computations. Then, there are designed routines that update the only active contacts.

Member Typedef Documentation

◆ Base

template<typename _Scalar >

typedef crocoddyl::ContactModelMultipleTpl<Scalar> sobec::newcontacts::ContactModelMultipleTpl< _Scalar >::Base

◆ ContactDataAbstract

template<typename _Scalar >

typedef crocoddyl::ContactDataAbstractTpl<Scalar> sobec::newcontacts::ContactModelMultipleTpl< _Scalar >::ContactDataAbstract

◆ ContactDataContainer

template<typename _Scalar >

typedef std::map<std::string, boost::shared_ptr<ContactDataAbstract> > sobec::newcontacts::ContactModelMultipleTpl< _Scalar >::ContactDataContainer

◆ ContactDataMultiple

template<typename _Scalar >

typedef crocoddyl::ContactDataMultipleTpl<Scalar> sobec::newcontacts::ContactModelMultipleTpl< _Scalar >::ContactDataMultiple

◆ ContactItem

template<typename _Scalar >

typedef crocoddyl::ContactItemTpl<Scalar> sobec::newcontacts::ContactModelMultipleTpl< _Scalar >::ContactItem

◆ ContactModelAbstract

template<typename _Scalar >

typedef crocoddyl::ContactModelAbstractTpl<Scalar> sobec::newcontacts::ContactModelMultipleTpl< _Scalar >::ContactModelAbstract

◆ ContactModelContainer

template<typename _Scalar >

typedef std::map<std::string, boost::shared_ptr<ContactItem> > sobec::newcontacts::ContactModelMultipleTpl< _Scalar >::ContactModelContainer

◆ ForceIterator

template<typename _Scalar >

typedef pinocchio::container::aligned_vector< pinocchio::ForceTpl<Scalar> >::iterator sobec::newcontacts::ContactModelMultipleTpl< _Scalar >::ForceIterator

◆ MathBase

template<typename _Scalar >

typedef crocoddyl::MathBaseTpl<Scalar> sobec::newcontacts::ContactModelMultipleTpl< _Scalar >::MathBase

◆ Matrix3s

template<typename _Scalar >

typedef MathBase::Matrix3s sobec::newcontacts::ContactModelMultipleTpl< _Scalar >::Matrix3s

◆ MatrixXs

template<typename _Scalar >

typedef MathBase::MatrixXs sobec::newcontacts::ContactModelMultipleTpl< _Scalar >::MatrixXs

◆ StateMultibody

template<typename _Scalar >

typedef crocoddyl::StateMultibodyTpl<Scalar> sobec::newcontacts::ContactModelMultipleTpl< _Scalar >::StateMultibody

◆ Vector2s

template<typename _Scalar >

typedef MathBase::Vector2s sobec::newcontacts::ContactModelMultipleTpl< _Scalar >::Vector2s

◆ Vector3s

template<typename _Scalar >

typedef MathBase::Vector3s sobec::newcontacts::ContactModelMultipleTpl< _Scalar >::Vector3s

◆ VectorXs

template<typename _Scalar >

typedef MathBase::VectorXs sobec::newcontacts::ContactModelMultipleTpl< _Scalar >::VectorXs

Constructor & Destructor Documentation

◆ ContactModelMultipleTpl() [1/2]

template<typename Scalar >

sobec::newcontacts::ContactModelMultipleTpl< Scalar >::ContactModelMultipleTpl	(	boost::shared_ptr< StateMultibody >	state,
		const std::size_t	nu
	)

Initialize the multi-contact model.

Parameters

[in]	state	Multibody state
[in]	nu	Dimension of control vector

◆ ContactModelMultipleTpl() [2/2]

template<typename Scalar >

sobec::newcontacts::ContactModelMultipleTpl< Scalar >::ContactModelMultipleTpl ( boost::shared_ptr< StateMultibody > state )

Initialize the multi-contact model.

Parameters

[in] state Multibody state

◆ ~ContactModelMultipleTpl()

template<typename Scalar >

sobec::newcontacts::ContactModelMultipleTpl< Scalar >::~ContactModelMultipleTpl

Member Function Documentation

◆ updateForceDiff()

template<typename Scalar >

void sobec::newcontacts::ContactModelMultipleTpl< Scalar >::updateForceDiff	(	const boost::shared_ptr< ContactDataMultiple > &	data,
		const boost::shared_ptr< MatrixXs >	df_dx,
		const boost::shared_ptr< MatrixXs >	df_du
	)		const

Update the Jacobian of the spatial force defined in frame coordinate.

Parameters

[in]	data	Multi-contact data
[in]	df_dx	Jacobian of the spatial impulse defined in frame coordinate \(\frac{\partial{}^o\underline{\boldsymbol{\lambda}}_c}{\partial\mathbf{x}}\in\mathbb{R}^{nc\times{ndx}}\)
[in]	df_du	Jacobian of the spatial impulse defined in frame coordinate \(\frac{\partial{}^o\underline{\boldsymbol{\lambda}}_c}{\partial\mathbf{u}}\in\mathbb{R}^{nc\times{nu}}\)

◆ updateRneaDerivatives()

template<typename Scalar >

void sobec::newcontacts::ContactModelMultipleTpl< Scalar >::updateRneaDerivatives	(	const boost::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 LOCAL_WORLD_ALIGNED)

as explained in this document : https://www.overleaf.com/read/tzvrrxxtntwk

Parameters

[in]	data	Multi-contact data
[in]	pinocchio	Pinocchio data

Member Data Documentation

◆ Scalar

template<typename _Scalar >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar sobec::newcontacts::ContactModelMultipleTpl< _Scalar >::Scalar

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

include/sobec/crocomplements/contact/multiple-contacts.hpp
include/sobec/crocomplements/contact/multiple-contacts.hxx

Public Types

Public Member Functions

Public Attributes

Detailed Description

template<typename _Scalar> class sobec::newcontacts::ContactModelMultipleTpl< _Scalar >

Member Typedef Documentation

◆ Base

◆ ContactDataAbstract

◆ ContactDataContainer

◆ ContactDataMultiple

◆ ContactItem

◆ ContactModelAbstract

◆ ContactModelContainer

◆ ForceIterator

◆ MathBase

◆ Matrix3s

◆ MatrixXs

◆ StateMultibody

◆ Vector2s

◆ Vector3s

◆ VectorXs

Constructor & Destructor Documentation

◆ ContactModelMultipleTpl() [1/2]

◆ ContactModelMultipleTpl() [2/2]

◆ ~ContactModelMultipleTpl()

Member Function Documentation

◆ updateForceDiff()

◆ updateRneaDerivatives()

Member Data Documentation

◆ Scalar

template<typename _Scalar>
class sobec::newcontacts::ContactModelMultipleTpl< _Scalar >