contact6d.hpp

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// BSD 3-Clause License
//
// Copyright (C) 2019-2021, LAAS-CNRS, University of Edinburgh
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
 
#ifndef SOBEC_CONTACT_6D_HPP_
#define SOBEC_CONTACT_6D_HPP_
 
#include <crocoddyl/core/utils/deprecate.hpp>
#include <crocoddyl/core/utils/exception.hpp>
#include <crocoddyl/multibody/contact-base.hpp>
#include <crocoddyl/multibody/contacts/contact-6d.hpp>
#include <crocoddyl/multibody/fwd.hpp>
#include <pinocchio/algorithm/frames.hpp>
#include <pinocchio/algorithm/kinematics-derivatives.hpp>
#include <pinocchio/multibody/data.hpp>
#include <pinocchio/spatial/motion.hpp>
 
#include "sobec/fwd.hpp"
 
namespace sobec {
namespace newcontacts {
 
template <typename _Scalar>
class ContactModel6DTpl : public crocoddyl::ContactModel6DTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef crocoddyl::MathBaseTpl<Scalar> MathBase;
  typedef crocoddyl::ContactModel6DTpl<Scalar> Base;
  typedef ContactData6DTpl<Scalar> Data;
  typedef pinocchio::SE3Tpl<Scalar> SE3;
  typedef crocoddyl::StateMultibodyTpl<Scalar> StateMultibody;
  typedef typename MathBase::Vector2s Vector2s;
  typedef typename MathBase::Vector3s Vector3s;
  typedef typename MathBase::VectorXs VectorXs;
 
  ContactModel6DTpl(boost::shared_ptr<StateMultibody> state,
                    const pinocchio::FrameIndex id, const SE3& xref,
                    const std::size_t nu,
                    const Vector2s& gains = Vector2s::Zero(),
                    const pinocchio::ReferenceFrame type = pinocchio::LOCAL);
 
  ContactModel6DTpl(boost::shared_ptr<StateMultibody> state,
                    const pinocchio::FrameIndex id, const SE3& xref,
                    const Vector2s& gains = Vector2s::Zero(),
                    const pinocchio::ReferenceFrame type = pinocchio::LOCAL);
 
  virtual ~ContactModel6DTpl();
 
  virtual void calc(
      const boost::shared_ptr<crocoddyl::ContactDataAbstractTpl<Scalar>>& data,
      const Eigen::Ref<const VectorXs>& x);
 
  virtual void calcDiff(
      const boost::shared_ptr<crocoddyl::ContactDataAbstractTpl<Scalar>>& data,
      const Eigen::Ref<const VectorXs>& x);
 
  virtual void updateForce(
      const boost::shared_ptr<crocoddyl::ContactDataAbstractTpl<Scalar>>& data,
      const VectorXs& force);
 
  virtual boost::shared_ptr<crocoddyl::ContactDataAbstractTpl<Scalar>>
  createData(pinocchio::DataTpl<Scalar>* const data);
 
  const SE3& get_reference() const;
 
  const Vector2s& get_gains() const;
 
  void set_reference(const SE3& reference);
 
  void set_type(const pinocchio::ReferenceFrame type);
 
  const pinocchio::ReferenceFrame& get_type() const;
 
  virtual void print(std::ostream& os) const;
 
 protected:
  using Base::id_;
  using Base::nc_;
  using Base::nu_;
  using Base::state_;
 
 private:
  SE3 xref_;        
  Vector2s gains_;  
  pinocchio::ReferenceFrame type_;  
};
 
template <typename _Scalar>
struct ContactData6DTpl : public crocoddyl::ContactData6DTpl<_Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef crocoddyl::MathBaseTpl<Scalar> MathBase;
  typedef crocoddyl::ContactData6DTpl<Scalar> Base;
  typedef typename MathBase::Matrix3s Matrix3s;
  typedef typename MathBase::Matrix6s Matrix6s;
  typedef typename MathBase::Vector3s Vector3s;
  typedef typename MathBase::Vector6s Vector6s;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  template <template <typename Scalar> class Model>
  ContactData6DTpl(Model<Scalar>* const model,
                   pinocchio::DataTpl<Scalar>* const data)
      : Base(model, data),
        fJf(6, model->get_state()->get_nv()),
        rMf(pinocchio::SE3Tpl<Scalar>::Identity()),
        lwaMl(pinocchio::SE3Tpl<Scalar>::Identity()),
        v_partial_dq(6, model->get_state()->get_nv()),
        a_partial_dq(6, model->get_state()->get_nv()),
        a_partial_dv(6, model->get_state()->get_nv()),
        a_partial_da(6, model->get_state()->get_nv()),
        da0_dx_temp_(6, model->get_state()->get_ndx()),
        tmp_skew_(6, model->get_state()->get_nv()),
        drnea_skew_term_(model->get_state()->get_nv(),
                         model->get_state()->get_nv()) {
    frame = model->get_id();
    jMf = model->get_state()->get_pinocchio()->frames[frame].placement;
    fXj = jMf.inverse().toActionMatrix();
    fJf.setZero();
    v_partial_dq.setZero();
    a_partial_dq.setZero();
    a_partial_dv.setZero();
    a_partial_da.setZero();
    tmp_skew_ang_.setZero();
    tmp_skew_lin_.setZero();
    tmp_skew_.setZero();
    rMf_Jlog6.setZero();
    type = model->get_type();
    drnea_skew_term_.setZero();
    a0_temp_.setZero();
    da0_dx_temp_.setZero();
    oRf.setZero();
  }
 
  using Base::a0;
  using Base::da0_dx;
  using Base::df_du;
  using Base::df_dx;
  using Base::f;
  using Base::frame;
  using Base::fXj;
  using Base::Jc;
  using Base::jMf;
  using Base::pinocchio;
 
  pinocchio::MotionTpl<Scalar> v;
  pinocchio::MotionTpl<Scalar> a;
  MatrixXs fJf;
  MatrixXs v_partial_dq;
  MatrixXs a_partial_dq;
  MatrixXs a_partial_dv;
  MatrixXs a_partial_da;
  pinocchio::SE3Tpl<Scalar> rMf;
  pinocchio::SE3Tpl<Scalar> lwaMl;
  Matrix6s rMf_Jlog6;
  MatrixXs tmp_skew_;
  Matrix3s tmp_skew_ang_;
  Matrix3s tmp_skew_lin_;
  pinocchio::ReferenceFrame type;
  MatrixXs da0_dx_temp_;
  Vector6s a0_temp_;
  MatrixXs drnea_skew_term_;
  Matrix3s oRf;
};
 
}  // namespace newcontacts
}  // namespace sobec
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "sobec/crocomplements/contact/contact6d.hxx"
 
#endif  // SOBEC_CONTACT_6D_HPP_