contact-fwddyn.hpp

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// BSD 3-Clause License
//
// Copyright (C) 2019-2021, LAAS-CNRS, University of Edinburgh, CTU, INRIA,
// University of Oxford Copyright note valid unless otherwise stated in
// individual files. All rights reserved.
 
#ifndef SOBEC_CONTACT_FWDDYN_HPP_
#define SOBEC_CONTACT_FWDDYN_HPP_
 
#include <stdexcept>
 
#include "crocoddyl/core/actuation-base.hpp"
#include "crocoddyl/core/costs/cost-sum.hpp"
#include "crocoddyl/core/diff-action-base.hpp"
#include "crocoddyl/multibody/contacts/multiple-contacts.hpp"
#include "crocoddyl/multibody/fwd.hpp"
#include "crocoddyl/multibody/states/multibody.hpp"
// #include "crocoddyl/multibody/data/contacts.hpp"
#include "crocoddyl/multibody/actions/contact-fwddyn.hpp"
#include "sobec/crocomplements/contact/multiple-contacts.hpp"
#include "sobec/fwd.hpp"
 
namespace sobec {
namespace newcontacts {
 
template <typename _Scalar>
class DifferentialActionModelContactFwdDynamicsTpl
    : public crocoddyl::DifferentialActionModelContactFwdDynamicsTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef crocoddyl::DifferentialActionModelContactFwdDynamicsTpl<Scalar> Base;
  typedef crocoddyl::DifferentialActionDataContactFwdDynamicsTpl<Scalar> Data;
  typedef crocoddyl::MathBaseTpl<Scalar> MathBase;
  typedef crocoddyl::CostModelSumTpl<Scalar> CostModelSum;
  typedef crocoddyl::StateMultibodyTpl<Scalar> StateMultibody;
  typedef crocoddyl::ContactModelMultipleTpl<Scalar> crocoContactModelMultiple;
  typedef crocoddyl::ActuationModelAbstractTpl<Scalar> ActuationModelAbstract;
  typedef crocoddyl::DifferentialActionDataAbstractTpl<Scalar>
      DifferentialActionDataAbstract;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  DifferentialActionModelContactFwdDynamicsTpl(
      boost::shared_ptr<StateMultibody> state,
      boost::shared_ptr<ActuationModelAbstract> actuation,
      boost::shared_ptr<crocoContactModelMultiple> contacts,
      boost::shared_ptr<CostModelSum> costs,
      const Scalar JMinvJt_damping = Scalar(0.),
      const bool enable_force = false);
  virtual ~DifferentialActionModelContactFwdDynamicsTpl();
 
  virtual void calcDiff(
      const boost::shared_ptr<DifferentialActionDataAbstract>& data,
      const Eigen::Ref<const VectorXs>& x, const Eigen::Ref<const VectorXs>& u);
 
  // /**
  //  * @brief @copydoc Base::quasiStatic()
  //  */
  // virtual void quasiStatic(const
  // boost::shared_ptr<DifferentialActionDataAbstract>& data,
  // Eigen::Ref<VectorXs> u,
  //                          const Eigen::Ref<const VectorXs>& x, const
  //                          std::size_t maxiter = 100, const Scalar tol =
  //                          Scalar(1e-9));
 
 private:
  bool enable_force_;
  boost::shared_ptr<ContactModelMultipleTpl<Scalar>> sobec_contacts_;
};
 
}  // namespace newcontacts
}  // namespace sobec
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include <sobec/crocomplements/contact/contact-fwddyn.hxx>
 
#endif  // SOBEC_CONTACT_FWDDYN_HPP_