residual-vel-collision.hpp

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// BSD 3-Clause License
//
// Copyright (C) 2021, LAAS-CNRS, University of Edinburgh, INRIA
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
 
#ifndef SOBEC_RESIDUAL_VEL_COLLISION_HPP_
#define SOBEC_RESIDUAL_VEL_COLLISION_HPP_
 
#ifdef PINOCCHIO_WITH_HPP_FCL
#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/geometry.hpp>
#include <pinocchio/algorithm/jacobian.hpp>
#include <pinocchio/multibody/fcl.hpp>
#include <pinocchio/multibody/fwd.hpp>
#include <pinocchio/multibody/geometry.hpp>
#include <pinocchio/spatial/motion.hpp>
 
#include "sobec/fwd.hpp"
 
namespace sobec {
 
using namespace crocoddyl;
 
template <typename _Scalar>
class ResidualModelVelCollisionTpl : public ResidualModelAbstractTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ResidualModelAbstractTpl<Scalar> Base;
  typedef ResidualDataVelCollisionTpl<Scalar> Data;
  typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
  typedef StateMultibodyTpl<Scalar> StateMultibody;
  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
  typedef pinocchio::GeometryModel GeometryModel;
 
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  ResidualModelVelCollisionTpl(boost::shared_ptr<StateMultibody> state,
                               const std::size_t nu,
                               boost::shared_ptr<GeometryModel> geom_model,
                               const pinocchio::PairIndex pair_id,
                               const pinocchio::FrameIndex frame_id,
                               const pinocchio::ReferenceFrame type,
                               const double beta);
 
  virtual ~ResidualModelVelCollisionTpl();
 
  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::GeometryModel &get_geometry() const;
 
  pinocchio::PairIndex get_pair_id() const;
 
  void set_pair_id(const pinocchio::PairIndex pair_id);
 
 protected:
  using Base::nu_;
  using Base::state_;
  using Base::unone_;
  using Base::v_dependent_;
 
 private:
  boost::shared_ptr<typename StateMultibody::PinocchioModel>
      pin_model_;  
  boost::shared_ptr<pinocchio::GeometryModel>
      geom_model_;  
  pinocchio::PairIndex
      pair_id_;  
  pinocchio::JointIndex joint_id_;  
  pinocchio::FrameIndex frame_id_;
  pinocchio::ReferenceFrame type_;
  double beta_;
};
 
template <typename _Scalar>
struct ResidualDataVelCollisionTpl : 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;
  typedef typename MathBase::Vector3s Vector3s;
  typedef typename MathBase::Vector2s Vector2s;
 
  template <template <typename Scalar> class Model>
  ResidualDataVelCollisionTpl(Model<Scalar> *const model,
                              DataCollectorAbstract *const data)
      : Base(model, data),
        geometry(pinocchio::GeometryData(model->get_geometry())),
        J(Matrix6xs::Zero(6, model->get_state()->get_nv())),
        Vx(Matrix6xs::Zero(6, 2 * model->get_state()->get_nv())) {
    // 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 "
          "DataCollectorActMultibodyTpl");
    }
    // Avoids data casting at runtime
    pinocchio = d->pinocchio;
  }
  pinocchio::GeometryData geometry;       
  pinocchio::DataTpl<Scalar> *pinocchio;  
  Matrix6xs J;                            
  Vector3s d;  
  Vector3s e;  
  Matrix6xs Vx;  
  Vector2s V;    
  double n;      
  using Base::r;
  using Base::Ru;
  using Base::Rx;
  using Base::shared;
};
 
}  // namespace sobec
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "sobec/crocomplements/residual-vel-collision.hxx"
 
#endif  // PINOCCHIO_WITH_HPP_FCL
 
#endif  // SOBEC_RESIDUAL_VEL_COLLISION_HPP_