| Line |
Branch |
Exec |
Source |
| 1 |
|
|
// |
| 2 |
|
|
// Copyright (c) 2020-2022 CNRS INRIA |
| 3 |
|
|
// |
| 4 |
|
|
|
| 5 |
|
|
#ifndef __pinocchio_algorithm_constrained_dynamics_derivatives_hpp__ |
| 6 |
|
|
#define __pinocchio_algorithm_constrained_dynamics_derivatives_hpp__ |
| 7 |
|
|
|
| 8 |
|
|
#include "pinocchio/algorithm/contact-info.hpp" |
| 9 |
|
|
#include "pinocchio/algorithm/proximal.hpp" |
| 10 |
|
|
|
| 11 |
|
|
namespace pinocchio |
| 12 |
|
|
{ |
| 13 |
|
|
|
| 14 |
|
|
template< |
| 15 |
|
|
typename Scalar, |
| 16 |
|
|
int Options, |
| 17 |
|
|
template<typename, int> |
| 18 |
|
|
class JointCollectionTpl, |
| 19 |
|
|
class ConstraintModelAllocator, |
| 20 |
|
|
class ConstraintDataAllocator, |
| 21 |
|
|
typename MatrixType1, |
| 22 |
|
|
typename MatrixType2, |
| 23 |
|
|
typename MatrixType3, |
| 24 |
|
|
typename MatrixType4, |
| 25 |
|
|
typename MatrixType5, |
| 26 |
|
|
typename MatrixType6> |
| 27 |
|
|
PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility") |
| 28 |
|
|
inline void computeConstraintDynamicsDerivatives( |
| 29 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 30 |
|
|
DataTpl<Scalar, Options, JointCollectionTpl> & data, |
| 31 |
|
|
const std::vector<RigidConstraintModelTpl<Scalar, Options>, ConstraintModelAllocator> & |
| 32 |
|
|
contact_models, |
| 33 |
|
|
std::vector<RigidConstraintDataTpl<Scalar, Options>, ConstraintDataAllocator> & contact_data, |
| 34 |
|
|
const ProximalSettingsTpl<Scalar> & settings, |
| 35 |
|
|
const Eigen::MatrixBase<MatrixType1> & ddq_partial_dq, |
| 36 |
|
|
const Eigen::MatrixBase<MatrixType2> & ddq_partial_dv, |
| 37 |
|
|
const Eigen::MatrixBase<MatrixType3> & ddq_partial_dtau, |
| 38 |
|
|
const Eigen::MatrixBase<MatrixType4> & lambda_partial_dq, |
| 39 |
|
|
const Eigen::MatrixBase<MatrixType5> & lambda_partial_dv, |
| 40 |
|
|
const Eigen::MatrixBase<MatrixType6> & lambda_partial_dtau); |
| 41 |
|
|
|
| 42 |
|
|
template< |
| 43 |
|
|
typename Scalar, |
| 44 |
|
|
int Options, |
| 45 |
|
|
template<typename, int> |
| 46 |
|
|
class JointCollectionTpl, |
| 47 |
|
|
class ConstraintModelAllocator, |
| 48 |
|
|
class ConstraintDataAllocator, |
| 49 |
|
|
typename MatrixType1, |
| 50 |
|
|
typename MatrixType2, |
| 51 |
|
|
typename MatrixType3, |
| 52 |
|
|
typename MatrixType4, |
| 53 |
|
|
typename MatrixType5, |
| 54 |
|
|
typename MatrixType6> |
| 55 |
|
|
PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility") |
| 56 |
|
✗ |
inline void computeConstraintDynamicsDerivatives( |
| 57 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 58 |
|
|
DataTpl<Scalar, Options, JointCollectionTpl> & data, |
| 59 |
|
|
const std::vector<RigidConstraintModelTpl<Scalar, Options>, ConstraintModelAllocator> & |
| 60 |
|
|
contact_models, |
| 61 |
|
|
std::vector<RigidConstraintDataTpl<Scalar, Options>, ConstraintDataAllocator> & contact_data, |
| 62 |
|
|
const Eigen::MatrixBase<MatrixType1> & ddq_partial_dq, |
| 63 |
|
|
const Eigen::MatrixBase<MatrixType2> & ddq_partial_dv, |
| 64 |
|
|
const Eigen::MatrixBase<MatrixType3> & ddq_partial_dtau, |
| 65 |
|
|
const Eigen::MatrixBase<MatrixType4> & lambda_partial_dq, |
| 66 |
|
|
const Eigen::MatrixBase<MatrixType5> & lambda_partial_dv, |
| 67 |
|
|
const Eigen::MatrixBase<MatrixType6> & lambda_partial_dtau) |
| 68 |
|
|
{ |
| 69 |
|
✗ |
ProximalSettingsTpl<Scalar> settings; |
| 70 |
|
✗ |
computeConstraintDynamicsDerivatives( |
| 71 |
|
✗ |
model, data, contact_models, contact_data, settings, ddq_partial_dq.const_cast_derived(), |
| 72 |
|
✗ |
ddq_partial_dv.const_cast_derived(), ddq_partial_dtau.const_cast_derived(), |
| 73 |
|
✗ |
lambda_partial_dq.const_cast_derived(), lambda_partial_dv.const_cast_derived(), |
| 74 |
|
✗ |
lambda_partial_dtau.const_cast_derived()); |
| 75 |
|
|
} |
| 76 |
|
|
|
| 77 |
|
|
template< |
| 78 |
|
|
typename Scalar, |
| 79 |
|
|
int Options, |
| 80 |
|
|
template<typename, int> |
| 81 |
|
|
class JointCollectionTpl, |
| 82 |
|
|
class ConstraintModelAllocator, |
| 83 |
|
|
class ConstraintDataAllocator> |
| 84 |
|
|
PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility") |
| 85 |
|
21 |
inline void computeConstraintDynamicsDerivatives( |
| 86 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 87 |
|
|
DataTpl<Scalar, Options, JointCollectionTpl> & data, |
| 88 |
|
|
const std::vector<RigidConstraintModelTpl<Scalar, Options>, ConstraintModelAllocator> & |
| 89 |
|
|
contact_models, |
| 90 |
|
|
std::vector<RigidConstraintDataTpl<Scalar, Options>, ConstraintDataAllocator> & contact_data, |
| 91 |
|
|
const ProximalSettingsTpl<Scalar> & settings) |
| 92 |
|
|
{ |
| 93 |
|
21 |
computeConstraintDynamicsDerivatives( |
| 94 |
|
21 |
model, data, contact_models, contact_data, settings, data.ddq_dq, data.ddq_dv, data.ddq_dtau, |
| 95 |
|
21 |
data.dlambda_dq, data.dlambda_dv, data.dlambda_dtau); |
| 96 |
|
21 |
}; |
| 97 |
|
|
|
| 98 |
|
|
template< |
| 99 |
|
|
typename Scalar, |
| 100 |
|
|
int Options, |
| 101 |
|
|
template<typename, int> |
| 102 |
|
|
class JointCollectionTpl, |
| 103 |
|
|
class ConstraintModelAllocator, |
| 104 |
|
|
class ConstraintDataAllocator> |
| 105 |
|
|
PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility") |
| 106 |
|
✗ |
inline void computeConstraintDynamicsDerivatives( |
| 107 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 108 |
|
|
DataTpl<Scalar, Options, JointCollectionTpl> & data, |
| 109 |
|
|
const std::vector<RigidConstraintModelTpl<Scalar, Options>, ConstraintModelAllocator> & |
| 110 |
|
|
contact_models, |
| 111 |
|
|
std::vector<RigidConstraintDataTpl<Scalar, Options>, ConstraintDataAllocator> & contact_data) |
| 112 |
|
|
{ |
| 113 |
|
✗ |
ProximalSettingsTpl<Scalar> settings; |
| 114 |
|
✗ |
computeConstraintDynamicsDerivatives(model, data, contact_models, contact_data, settings); |
| 115 |
|
✗ |
}; |
| 116 |
|
|
|
| 117 |
|
|
} // namespace pinocchio |
| 118 |
|
|
|
| 119 |
|
|
#include "pinocchio/algorithm/constrained-dynamics-derivatives.hxx" |
| 120 |
|
|
|
| 121 |
|
|
#if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION |
| 122 |
|
|
#include "pinocchio/algorithm/constrained-dynamics-derivatives.txx" |
| 123 |
|
|
#endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION |
| 124 |
|
|
|
| 125 |
|
|
#endif // ifndef __pinocchio_algorithm_constrained_dynamics_derivatives_hpp__ |
| 126 |
|
|
|