GCC Code Coverage Report

Directory: ./
File: include/pinocchio/multibody/data.hxx
Date: 2025-04-30 16:14:33
Exec Total Coverage
Lines: 282 282 100.0%
Branches: 468 898 52.1%
Line Branch Exec Source
1 //
2 // Copyright (c) 2015-2024 CNRS INRIA
3 // Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
4 //
5
6 #ifndef __pinocchio_multibody_data_hxx__
7 #define __pinocchio_multibody_data_hxx__
8
9 #include "pinocchio/spatial/fwd.hpp"
10 #include "pinocchio/multibody/model.hpp"
11 #include "pinocchio/utils/string-generator.hpp"
12 #include "pinocchio/multibody/liegroup/liegroup-algo.hpp"
13
14 /// @cond DEV
15
16 namespace pinocchio
17 {
18
19 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
20 2321 DataTpl<Scalar, Options, JointCollectionTpl>::DataTpl(const Model & model)
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 2321 : joints(0)
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 2321 , a((std::size_t)model.njoints, Motion::Zero())
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 2321 , oa((std::size_t)model.njoints, Motion::Zero())
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 2321 , oa_drift((std::size_t)model.njoints, Motion::Zero())
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 2321 , oa_augmented((std::size_t)model.njoints, Motion::Zero())
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 2321 , a_gf((std::size_t)model.njoints, Motion::Zero())
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 2321 , oa_gf((std::size_t)model.njoints, Motion::Zero())
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 2321 , v((std::size_t)model.njoints, Motion::Zero())
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 2321 , ov((std::size_t)model.njoints, Motion::Zero())
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 2321 , f((std::size_t)model.njoints, Force::Zero())
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 2321 , of((std::size_t)model.njoints, Force::Zero())
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 2321 , of_augmented((std::size_t)model.njoints, Force::Zero())
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 2321 , h((std::size_t)model.njoints, Force::Zero())
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 2321 , oh((std::size_t)model.njoints, Force::Zero())
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 2321 , oMi((std::size_t)model.njoints, SE3::Identity())
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 2321 , liMi((std::size_t)model.njoints, SE3::Identity())
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 2321 , tau(VectorXs::Zero(model.nv))
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 2321 , nle(VectorXs::Zero(model.nv))
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 2321 , g(VectorXs::Zero(model.nv))
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 2321 , oMf((std::size_t)model.nframes, SE3::Identity())
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 2321 , Ycrb((std::size_t)model.njoints, Inertia::Zero())
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 2321 , dYcrb((std::size_t)model.njoints, Inertia::Zero())
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 2321 , M(MatrixXs::Zero(model.nv, model.nv))
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 2321 , Minv(MatrixXs::Zero(model.nv, model.nv))
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 2321 , C(MatrixXs::Zero(model.nv, model.nv))
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 2321 , dHdq(Matrix6x::Zero(6, model.nv))
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 2321 , dFdq(Matrix6x::Zero(6, model.nv))
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 2321 , dFdv(Matrix6x::Zero(6, model.nv))
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 2321 , dFda(Matrix6x::Zero(6, model.nv))
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 2321 , SDinv(Matrix6x::Zero(6, model.nv))
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 2321 , UDinv(Matrix6x::Zero(6, model.nv))
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 2321 , IS(MatrixXs::Zero(6, model.nv))
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 2321 , vxI((std::size_t)model.njoints, Inertia::Matrix6::Zero())
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 2321 , Ivx((std::size_t)model.njoints, Inertia::Matrix6::Zero())
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 2321 , B((std::size_t)model.njoints, Inertia::Matrix6::Zero())
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 2321 , oinertias((std::size_t)model.njoints, Inertia::Zero())
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 2321 , oYcrb((std::size_t)model.njoints, Inertia::Zero())
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 2321 , doYcrb((std::size_t)model.njoints, Inertia::Matrix6::Zero())
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 2321 , ddq(VectorXs::Zero(model.nv))
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 2321 , Yaba((std::size_t)model.njoints, Inertia::Matrix6::Zero())
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 2321 , oYaba((std::size_t)model.njoints, Inertia::Matrix6::Zero())
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 2321 , oL((std::size_t)model.njoints, Inertia::Matrix6::Zero())
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 2321 , oK((std::size_t)model.njoints, Inertia::Matrix6::Zero())
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 2321 , u(VectorXs::Zero(model.nv))
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 2321 , Ag(Matrix6x::Zero(6, model.nv))
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 2321 , dAg(Matrix6x::Zero(6, model.nv))
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 2321 , hg(Force::Zero())
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 2321 , dhg(Force::Zero())
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 2321 , Ig(Inertia::Zero())
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 2321 , Fcrb((std::size_t)model.njoints, Matrix6x::Zero(6, model.nv))
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 2321 , lastChild((std::size_t)model.njoints, -1)
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 2321 , nvSubtree((std::size_t)model.njoints, -1)
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 2321 , start_idx_v_fromRow((std::size_t)model.nvExtended, -1)
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 2321 , end_idx_v_fromRow((std::size_t)model.nvExtended, -1)
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 2321 , idx_vExtended_to_idx_v_fromRow((std::size_t)model.nvExtended, -1)
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 2321 , U(MatrixXs::Identity(model.nv, model.nv))
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 2321 , D(VectorXs::Zero(model.nv))
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 2321 , Dinv(VectorXs::Zero(model.nv))
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 2321 , tmp(VectorXs::Zero(model.nv))
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 2321 , parents_fromRow((std::size_t)model.nvExtended, -1)
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 2321 , mimic_parents_fromRow((std::size_t)model.nvExtended, -1)
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 2321 , non_mimic_parents_fromRow((std::size_t)model.nvExtended, -1)
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 2321 , supports_fromRow((std::size_t)model.nv)
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 2321 , nvSubtree_fromRow((std::size_t)model.nvExtended, -1)
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 2321 , J(Matrix6x::Zero(6, model.nvExtended))
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 2321 , psid(Matrix6x::Zero(6, model.nv))
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 2321 , psidd(Matrix6x::Zero(6, model.nv))
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 2321 , dVdq(Matrix6x::Zero(6, model.nv))
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 2321 , dAdq(Matrix6x::Zero(6, model.nv))
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 2321 , dAdv(Matrix6x::Zero(6, model.nv))
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 2321 , dtau_dq(RowMatrixXs::Zero(model.nv, model.nv))
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 2321 , dtau_dv(RowMatrixXs::Zero(model.nv, model.nv))
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 2321 , ddq_dq(RowMatrixXs::Zero(model.nv, model.nv))
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 2321 , ddq_dv(RowMatrixXs::Zero(model.nv, model.nv))
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 2321 , ddq_dtau(RowMatrixXs::Zero(model.nv, model.nv))
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 2321 , iMf((std::size_t)model.njoints, SE3::Identity())
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 2321 , com((std::size_t)model.njoints, Vector3::Zero())
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 2321 , vcom((std::size_t)model.njoints, Vector3::Zero())
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 2321 , acom((std::size_t)model.njoints, Vector3::Zero())
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 2321 , mass((std::size_t)model.njoints, (Scalar)(-1))
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 2321 , Jcom(Matrix3x::Zero(3, model.nv))
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 2321 , kinetic_energy(Scalar(0))
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 2321 , potential_energy(Scalar(0))
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 2321 , mechanical_energy(Scalar(0))
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 2321 , JMinvJt()
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 2321 , llt_JMinvJt()
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 2321 , lambda_c()
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 2321 , lambda_c_prox()
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 2321 , diff_lambda_c()
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 2321 , sDUiJt(MatrixXs::Zero(model.nv, model.nv))
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 2321 , torque_residual(VectorXs::Zero(model.nv))
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 2321 , dq_after(VectorXs::Zero(model.nv))
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 2321 , impulse_c()
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 2321 , staticRegressor(Matrix3x::Zero(3, 4 * (model.njoints - 1)))
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 2321 , bodyRegressor(BodyRegressorType::Zero())
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 2321 , jointTorqueRegressor(MatrixXs::Zero(model.nv, 10 * (model.njoints - 1)))
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 2321 , kineticEnergyRegressor(RowVectorXs::Zero(10 * (model.njoints - 1)))
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 2321 , potentialEnergyRegressor(RowVectorXs::Zero(10 * (model.njoints - 1)))
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 2321 , KA((std::size_t)model.njoints, Matrix6x::Zero(6, 0))
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 2321 , LA((std::size_t)model.njoints, MatrixXs::Zero(0, 0))
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 2321 , lA((std::size_t)model.njoints, VectorXs::Zero(0))
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 2321 , lambdaA((std::size_t)model.njoints, VectorXs::Zero(0))
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 2321 , par_cons_ind((std::size_t)model.njoints, 0)
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 2321 , a_bias((std::size_t)model.njoints, Motion::Zero())
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 2321 , KAS((std::size_t)model.njoints, MatrixXs::Zero(0, 0))
128
129 #if EIGEN_VERSION_AT_LEAST(3, 2, 90) && !EIGEN_VERSION_AT_LEAST(3, 2, 93)
130 , kinematic_hessians(
131 6,
132 std::max(1, model.nv),
133 std::max(1, model.nv)) // the minimum size should be 1 for compatibility reasons
134 , d2tau_dqdq(
135 std::max(1, model.nv),
136 std::max(1, model.nv),
137 std::max(1, model.nv)) // the minimum size should be 1 for compatibility reasons
138 , d2tau_dvdv(
139 std::max(1, model.nv),
140 std::max(1, model.nv),
141 std::max(1, model.nv)) // the minimum size should be 1 for compatibility reasons
142 , d2tau_dqdv(
143 std::max(1, model.nv),
144 std::max(1, model.nv),
145 std::max(1, model.nv)) // the minimum size should be 1 for compatibility reasons
146 , d2tau_dadq(
147 std::max(1, model.nv),
148 std::max(1, model.nv),
149 std::max(1, model.nv)) // the minimum size should be 1 for compatibility reasons
150 #else
151
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 2321 , kinematic_hessians(6, model.nv, model.nv)
152
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 2321 , d2tau_dqdq(model.nv, model.nv, model.nv)
153
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 2321 , d2tau_dvdv(model.nv, model.nv, model.nv)
154
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155
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 2321 , d2tau_dadq(model.nv, model.nv, model.nv)
156 #endif
157
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 2321 , extended_motion_propagator((std::size_t)model.njoints, Matrix6::Zero())
158
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 2321 , extended_motion_propagator2((std::size_t)model.njoints, Matrix6::Zero())
159
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 2321 , spatial_inv_inertia((std::size_t)model.njoints, Matrix6::Zero())
160
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164
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 16247 , constraints_on_joint((std::size_t)model.njoints)
165 {
166 typedef typename Model::JointIndex JointIndex;
167
168 /* Create data structure associated to the joints */
169
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 64884 for (JointIndex i = 0; i < (JointIndex)(model.njoints); ++i)
170
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 62563 joints.push_back(CreateJointData<Scalar, Options, JointCollectionTpl>::run(model.joints[i]));
171
172 /* Init for CRBA */
173
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 2321 M.setZero();
174
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 2321 Minv.setZero();
175
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 64884 for (JointIndex i = 0; i < (JointIndex)(model.njoints); ++i)
176 {
177
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 62563 Fcrb[i].resize(6, model.nv);
178 }
179
180
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 2321 computeLastChild(model);
181
182 /* Init for Cholesky */
183
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 2321 computeParents_fromRow(model);
184
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 2321 computeSupports_fromRow(model);
185
186 /* Init universe states relatively to itself */
187
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 2321 a_gf[0] = -model.gravity;
188
189
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 2321 kinematic_hessians.setZero();
190
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 2321 d2tau_dqdq.setZero();
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 2321 d2tau_dadq.setZero();
194 2321 }
195
196 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
197 2321 inline void DataTpl<Scalar, Options, JointCollectionTpl>::computeLastChild(const Model & model)
198 {
199 typedef typename Model::Index Index;
200
201
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 2321 std::fill(lastChild.begin(), lastChild.end(), -1);
202
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 64884 for (int i = model.njoints - 1; i >= 0; --i)
203 {
204
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 62563 if (lastChild[(Index)i] == -1)
205 9001 lastChild[(Index)i] = i;
206 62563 const Index & parent = model.parents[(Index)i];
207
208 62563 lastChild[parent] = std::max<int>(lastChild[(Index)i], lastChild[parent]);
209
210 // Build a "correct" representation of mimic nvSubtree by using nvExtended, which will cover
211 // its children nv, and allow for a simple check
212
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 62563 if (boost::get<JointModelMimicTpl<Scalar, Options, JointCollectionTpl>>(
213 62563 &model.joints[size_t(i)]))
214 1666 nvSubtree[(Index)i] = 0;
215 else
216 {
217 int nv_;
218
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 60897 if (boost::get<JointModelMimicTpl<Scalar, Options, JointCollectionTpl>>(
219 60897 &model.joints[(Index)lastChild[(Index)i]]))
220 2049 nv_ = model.joints[(Index)lastChild[(Index)i]].nvExtended();
221 else
222 58848 nv_ = model.joints[(Index)lastChild[(Index)i]].nv();
223 60897 nvSubtree[(Index)i] =
224 60897 model.joints[(Index)lastChild[(Index)i]].idx_v() + nv_ - model.joints[(Index)i].idx_v();
225 }
226 }
227 // fill mimic data
228
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 3987 for (const JointIndex mimicking_id : model.mimicking_joints)
229 {
230 1666 const auto & mimicking_sub = model.subtrees[mimicking_id];
231 1666 size_t j = 1;
232
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 1666 for (; j < mimicking_sub.size(); j++)
233 {
234
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 1440 if (model.nvs[mimicking_sub[j]] != 0)
235 1440 break;
236 }
237
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 1666 if (mimicking_sub.size() == 1)
238
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 226 mimic_subtree_joint.push_back(0);
239 else
240
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 1440 mimic_subtree_joint.push_back(mimicking_sub[j]);
241 }
242 2321 }
243
244 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
245 inline void
246 2321 DataTpl<Scalar, Options, JointCollectionTpl>::computeParents_fromRow(const Model & model)
247 {
248 typedef typename Model::Index Index;
249
250
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 62563 for (Index joint = 1; joint < (Index)(model.njoints); joint++)
251 {
252 60242 const Index & parent = model.parents[joint];
253 60242 const int idx_vj = model.joints[joint].idx_v();
254 60242 const int nvExtended_j = model.joints[joint].nvExtended();
255 60242 const int idx_vExtended_j = model.joints[joint].idx_vExtended();
256
257
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258
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259
260
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 60242 if (parent > 0)
261 57934 parents_fromRow[(Index)idx_vExtended_j] =
262 57934 model.joints[parent].idx_vExtended() + model.joints[parent].nvExtended() - 1;
263 else
264 2308 parents_fromRow[(Index)idx_vExtended_j] = -1;
265
266 60242 JointIndex first_non_mimic_parent_id = parent;
267 60242 while (first_non_mimic_parent_id > 0
268
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 121056 && boost::get<JointModelMimicTpl<Scalar, Options, JointCollectionTpl>>(
269 59374 &model.joints[first_non_mimic_parent_id]))
270 {
271 1440 first_non_mimic_parent_id = model.parents[first_non_mimic_parent_id];
272 }
273
274
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 60242 if (first_non_mimic_parent_id > 0)
275 57934 non_mimic_parents_fromRow[(Index)idx_vExtended_j] =
276 57934 model.joints[first_non_mimic_parent_id].idx_vExtended()
277 57934 + model.joints[first_non_mimic_parent_id].nvExtended() - 1;
278 else
279 2308 non_mimic_parents_fromRow[(Index)idx_vExtended_j] = -1;
280
281 60242 JointIndex first_mimic_parent_id = parent;
282 60242 while (first_mimic_parent_id > 0
283
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 526946 && !boost::get<JointModelMimicTpl<Scalar, Options, JointCollectionTpl>>(
284 236434 &model.joints[first_mimic_parent_id]))
285 {
286 230270 first_mimic_parent_id = model.parents[first_mimic_parent_id];
287 }
288
289
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 60242 if (first_mimic_parent_id > 0)
290 6164 mimic_parents_fromRow[(Index)idx_vExtended_j] =
291 6164 model.joints[first_mimic_parent_id].idx_vExtended()
292 6164 + model.joints[first_mimic_parent_id].nvExtended() - 1;
293 else
294 54078 mimic_parents_fromRow[(Index)idx_vExtended_j] = -1;
295
296 60242 nvSubtree_fromRow[(Index)idx_vExtended_j] = nvSubtree[joint];
297 60242 start_idx_v_fromRow[(size_t)idx_vj] = idx_vj;
298 60242 end_idx_v_fromRow[(size_t)idx_vj] = idx_vj + nvExtended_j - 1;
299 60242 idx_vExtended_to_idx_v_fromRow[(size_t)idx_vExtended_j] = idx_vj;
300
301
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 71528 for (int row = 1; row < nvExtended_j; ++row)
302 {
303 11286 parents_fromRow[(size_t)(idx_vExtended_j + row)] = idx_vExtended_j + row - 1;
304 11286 mimic_parents_fromRow[(size_t)(idx_vExtended_j + row)] = idx_vExtended_j + row - 1;
305 11286 non_mimic_parents_fromRow[(size_t)(idx_vExtended_j + row)] = idx_vExtended_j + row - 1;
306 11286 nvSubtree_fromRow[(size_t)(idx_vExtended_j + row)] = nvSubtree[joint] - row;
307 11286 start_idx_v_fromRow[(size_t)(idx_vExtended_j + row)] =
308 start_idx_v_fromRow[(size_t)idx_vExtended_j];
309 11286 end_idx_v_fromRow[(size_t)(idx_vExtended_j + row)] =
310 end_idx_v_fromRow[(size_t)idx_vExtended_j];
311 11286 idx_vExtended_to_idx_v_fromRow[(size_t)(idx_vExtended_j + row)] =
312 11286 idx_vExtended_to_idx_v_fromRow[(size_t)idx_vExtended_j] + row;
313 }
314 }
315 2321 }
316
317 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
318 inline void
319 2321 DataTpl<Scalar, Options, JointCollectionTpl>::computeSupports_fromRow(const Model & model)
320 {
321 typedef typename Model::JointIndex JointIndex;
322
323
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 62563 for (JointIndex joint_id = 1; joint_id < (JointIndex)(model.njoints); joint_id++)
324 {
325
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326
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 60242 const int idx_vj = idx_v(model.joints[joint_id]);
327
328
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329
330 60242 const int parent_fromRow = parents_fromRow[(size_t)idx_vj];
331
332
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 60242 if (parent_fromRow >= 0)
333
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 57931 supports_fromRow[(size_t)idx_vj] = supports_fromRow[(size_t)parent_fromRow];
334
335
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336
337
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 71528 for (int row = 1; row < nvj; ++row)
338 {
339
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340
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 11286 supports_fromRow[(size_t)(idx_vj + row)].push_back(idx_vj + row);
341 }
342 }
343 2321 }
344
345 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
346 11 bool operator==(
347 const DataTpl<Scalar, Options, JointCollectionTpl> & data1,
348 const DataTpl<Scalar, Options, JointCollectionTpl> & data2)
349 {
350 11 bool value =
351
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 22 data1.joints == data2.joints && data1.a == data2.a && data1.oa == data2.oa
352
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357
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358
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359
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360
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361
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362
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363
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364
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366
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368
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370
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371
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 10 && data1.jointTorqueRegressor == data2.jointTorqueRegressor
400 // && data1.contact_chol == data2.contact_chol
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 22 && data1.primal_dual_contact_solution == data2.primal_dual_contact_solution;
402
403 // operator== for Eigen::Tensor provides an Expression which might be not evaluated as a boolean
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 22 && Tensor<bool, 0>((data1.d2tau_dqdq == data2.d2tau_dqdq).all())(0)
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 33 && Tensor<bool, 0>((data1.d2tau_dadq == data2.d2tau_dadq).all())(0);
409
410 11 return value;
411 }
412
413 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
414 1 bool operator!=(
415 const DataTpl<Scalar, Options, JointCollectionTpl> & data1,
416 const DataTpl<Scalar, Options, JointCollectionTpl> & data2)
417 {
418 1 return !(data1 == data2);
419 }
420
421 } // namespace pinocchio
422
423 /// @endcond
424
425 #endif // ifndef __pinocchio_multibody_data_hxx__
426