residual-cop.hpp

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// BSD 3-Clause License
//
// Copyright (C) 2022, LAAS-CNRS
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
 
#ifndef SOBEC_RESIDUAL_COP_HPP_
#define SOBEC_RESIDUAL_COP_HPP_
 
#include <crocoddyl/core/residual-base.hpp>
#include <crocoddyl/core/utils/exception.hpp>
#include <crocoddyl/multibody/data/multibody.hpp>
#include <crocoddyl/multibody/fwd.hpp>
#include <crocoddyl/multibody/states/multibody.hpp>
#include <pinocchio/algorithm/jacobian.hpp>
#include <pinocchio/multibody/fwd.hpp>
#include <pinocchio/spatial/motion.hpp>
 
#include "crocoddyl/multibody/contacts/contact-6d.hpp"
#include "crocoddyl/multibody/contacts/multiple-contacts.hpp"
#include "crocoddyl/multibody/data/contacts.hpp"
#include "sobec/fwd.hpp"
 
namespace sobec {
 
using namespace crocoddyl;
 
template <typename _Scalar>
class ResidualModelCenterOfPressureTpl
    : public ResidualModelAbstractTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ResidualModelAbstractTpl<Scalar> Base;
  typedef ResidualDataCenterOfPressureTpl<Scalar> Data;
  typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
  typedef StateMultibodyTpl<Scalar> StateMultibody;
  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
 
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::Vector3s Vector3s;
  typedef typename MathBase::MatrixXs MatrixXs;
  typedef typename pinocchio::ForceTpl<Scalar> Force;
 
  ResidualModelCenterOfPressureTpl(boost::shared_ptr<StateMultibody> state,
                                   const pinocchio::FrameIndex contact_id,
                                   const std::size_t nu);
 
  virtual ~ResidualModelCenterOfPressureTpl();
 
  virtual void calc(const boost::shared_ptr<ResidualDataAbstract> &data,
                    const Eigen::Ref<const VectorXs> &x,
                    const Eigen::Ref<const VectorXs> &u);
 
  virtual void calcDiff(const boost::shared_ptr<ResidualDataAbstract> &data,
                        const Eigen::Ref<const VectorXs> &x,
                        const Eigen::Ref<const VectorXs> &u);
 
  virtual boost::shared_ptr<ResidualDataAbstract> createData(
      DataCollectorAbstract *const data);
 
  pinocchio::FrameIndex get_contact_id() const { return contact_id_; }
  void set_contact_id(const pinocchio::FrameIndex id) { contact_id_ = id; }
 
 protected:
  using Base::nu_;
  using Base::state_;
  using Base::unone_;
 
 private:
  pinocchio::FrameIndex contact_id_;
};
 
template <typename _Scalar>
struct ResidualDataCenterOfPressureTpl
    : public ResidualDataAbstractTpl<_Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ResidualDataAbstractTpl<Scalar> Base;
  typedef StateMultibodyTpl<Scalar> StateMultibody;
  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
 
  typedef typename MathBase::Matrix6xs Matrix6xs;
 
  template <template <typename Scalar> class Model>
  ResidualDataCenterOfPressureTpl(Model<Scalar> *const model,
                                  DataCollectorAbstract *const data)
      : Base(model, data) {
    // Check that proper shared data has been passed
    DataCollectorContactTpl<Scalar> *d =
        dynamic_cast<DataCollectorContactTpl<Scalar> *>(this->shared);
    if (d == NULL) {
      throw_pretty(
          "Invalid argument: the shared data should be derived from "
          "DataCollectorContact");
    }
    const pinocchio::FrameIndex id = model->get_contact_id();
    const boost::shared_ptr<StateMultibody> &state =
        boost::static_pointer_cast<StateMultibody>(model->get_state());
    std::string frame_name = state->get_pinocchio()->frames[id].name;
    bool found_contact = false;
    for (auto &it : d->contacts->contacts) {
      if (it.second->frame == id) {
        ContactData6DTpl<Scalar> *d6d =
            dynamic_cast<ContactData6DTpl<Scalar> *>(it.second.get());
        if (d6d != NULL) {
          found_contact = true;
          this->contact = it.second;
          break;
        }
        throw_pretty(
            "Domain error: there isn't defined at least a 6d contact for " +
            frame_name);
      }
    }
    if (!found_contact) {
      throw_pretty("Domain error: there isn't defined contact data for " +
                   frame_name);
    }
  }
  boost::shared_ptr<ForceDataAbstractTpl<Scalar> > contact;
  using Base::r;
  using Base::Ru;
  using Base::Rx;
  using Base::shared;
};
 
}  // namespace sobec
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "sobec/crocomplements/residual-cop.hxx"
 
#endif  // SOBEC_RESIDUAL_COP_HPP_