residual-feet-collision.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_FEET_COLLISION_HPP_
#define SOBEC_RESIDUAL_FEET_COLLISION_HPP_
 
#include <crocoddyl/core/residual-base.hpp>
#include <crocoddyl/multibody/data/multibody.hpp>
#include <crocoddyl/multibody/fwd.hpp>
#include <crocoddyl/multibody/states/multibody.hpp>
 
#include "sobec/fwd.hpp"
 
namespace sobec {
using namespace crocoddyl;
template <typename _Scalar>
class ResidualModelFeetCollisionTpl : public ResidualModelAbstractTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ResidualModelAbstractTpl<Scalar> Base;
  typedef ResidualDataFeetCollisionTpl<Scalar> Data;
  typedef StateMultibodyTpl<Scalar> StateMultibody;
  typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
  typedef typename MathBase::VectorXs VectorXs;
 
  ResidualModelFeetCollisionTpl(boost::shared_ptr<StateMultibody> state,
                                const pinocchio::FrameIndex frame_id1,
                                const pinocchio::FrameIndex frame_id2,
                                const std::size_t nu);
 
  ResidualModelFeetCollisionTpl(boost::shared_ptr<StateMultibody> state,
                                const pinocchio::FrameIndex frame_id1,
                                const pinocchio::FrameIndex frame_id2);
  virtual ~ResidualModelFeetCollisionTpl();
 
  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);
 
  const pinocchio::FrameIndex& get_frame_id1() const;
  const pinocchio::FrameIndex& get_frame_id2() const;
 
  void set_frame_id1(const pinocchio::FrameIndex& fid1);
  void set_frame_id2(const pinocchio::FrameIndex& fid2);
 
 protected:
  using Base::nu_;
  using Base::state_;
  using Base::u_dependent_;
  using Base::unone_;
  using Base::v_dependent_;
 
 private:
  pinocchio::FrameIndex frame_id1;
  pinocchio::FrameIndex frame_id2;
  typename StateMultibody::PinocchioModel
      pin_model_;  
};
 
template <typename _Scalar>
struct ResidualDataFeetCollisionTpl : public ResidualDataAbstractTpl<_Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ResidualDataAbstractTpl<Scalar> Base;
  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
  typedef typename MathBase::Vector3s Vector3s;
  typedef Eigen::Matrix<Scalar, 2, Eigen::Dynamic> Matrix2xs;
  typedef typename MathBase::Matrix6xs Matrix6xs;
  typedef typename MathBase::VectorXs VectorXs;
 
  template <template <typename Scalar> class Model>
  ResidualDataFeetCollisionTpl(Model<Scalar>* const model,
                               DataCollectorAbstract* const data)
      : Base(model, data),
        J1(6, model->get_state()->get_nv()),
        J2(6, model->get_state()->get_nv()),
        dJ(2, model->get_state()->get_nv()),
        p1p2(3) {
    //  Check that proper shared data has been passed
    DataCollectorMultibodyTpl<Scalar>* d =
        dynamic_cast<DataCollectorMultibodyTpl<Scalar>*>(shared);
    if (d == NULL) {
      throw_pretty(
          "Invalid argument: the shared data should be derived from "
          "DataCollectorMultibody");
    }
 
    // Avoids data casting at runtime
    pinocchio = d->pinocchio;
 
    J1.fill(0);
    J2.fill(0);
    dJ.fill(0);
    p1p2.fill(0);
  }
 
  pinocchio::DataTpl<Scalar>* pinocchio;  
  Matrix6xs J1, J2;
  Matrix2xs dJ;
  Vector3s p1p2;
  using Base::r;
  using Base::Ru;
  using Base::Rx;
  using Base::shared;
};
 
}  // namespace sobec
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
 
#include "sobec/crocomplements/residual-feet-collision.hxx"
 
#endif  // SOBEC_RESIDUAL_FEET_COLLISION_HPP_