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// |
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// Copyright (c) 2020-2024 INRIA CNRS |
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// Copyright (c) 2023 KU Leuven |
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// |
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#ifndef __pinocchio_algorithm_contact_delassus_hxx__ |
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#define __pinocchio_algorithm_contact_delassus_hxx__ |
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#include "pinocchio/algorithm/check.hpp" |
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#include "pinocchio/algorithm/contact-info.hpp" |
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#include "pinocchio/algorithm/model.hpp" |
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#include "pinocchio/multibody/fwd.hpp" |
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namespace pinocchio |
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{ |
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template< |
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typename Scalar, |
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int Options, |
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template<typename, int> |
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class JointCollectionTpl, |
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typename ConfigVectorType> |
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struct ComputeOSIMForwardStep |
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: public fusion::JointUnaryVisitorBase< |
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ComputeOSIMForwardStep<Scalar, Options, JointCollectionTpl, ConfigVectorType>> |
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{ |
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typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model; |
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typedef DataTpl<Scalar, Options, JointCollectionTpl> Data; |
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typedef boost::fusion::vector<const Model &, Data &, const ConfigVectorType &> ArgsType; |
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template<typename JointModel> |
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static void algo( |
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const pinocchio::JointModelBase<JointModel> & jmodel, |
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pinocchio::JointDataBase<typename JointModel::JointDataDerived> & jdata, |
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const Model & model, |
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Data & data, |
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const Eigen::MatrixBase<ConfigVectorType> & q) |
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{ |
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typedef typename Model::JointIndex JointIndex; |
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const JointIndex i = jmodel.id(); |
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jmodel.calc(jdata.derived(), q.derived()); |
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const JointIndex parent = model.parents[i]; |
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data.liMi[i] = model.jointPlacements[i] * jdata.M(); |
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if (parent > 0) |
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data.oMi[i] = data.oMi[parent] * data.liMi[i]; |
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else |
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data.oMi[i] = data.liMi[i]; |
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jmodel.jointCols(data.J) = data.oMi[i].act(jdata.S()); |
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data.oYcrb[i] = data.oMi[i].act(model.inertias[i]); |
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data.oYaba[i] = data.oYcrb[i].matrix(); |
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} |
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}; |
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
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struct ComputeOSIMBackwardStep |
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: public fusion::JointUnaryVisitorBase< |
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ComputeOSIMBackwardStep<Scalar, Options, JointCollectionTpl>> |
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{ |
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typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model; |
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typedef DataTpl<Scalar, Options, JointCollectionTpl> Data; |
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typedef boost::fusion::vector<const Model &, Data &> ArgsType; |
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template<typename JointModel> |
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static void algo( |
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const JointModelBase<JointModel> & jmodel, |
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JointDataBase<typename JointModel::JointDataDerived> & jdata, |
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const Model & model, |
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Data & data) |
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{ |
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typedef typename Model::JointIndex JointIndex; |
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typedef typename Data::Inertia Inertia; |
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typedef typename Data::Matrix6 Matrix6; |
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typedef typename Data::Matrix6x Matrix6x; |
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const JointIndex i = jmodel.id(); |
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const JointIndex parent = model.parents[i]; |
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typename Inertia::Matrix6 & Ia = data.oYaba[i]; |
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typedef typename SizeDepType<JointModel::NV>::template ColsReturn<Matrix6x>::Type ColBlock; |
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ColBlock Jcols = jmodel.jointCols(data.J); |
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jdata.U().noalias() = Ia * Jcols; |
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jdata.StU().noalias() = Jcols.transpose() * jdata.U(); |
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// Account for the rotor inertia contribution |
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jdata.StU().diagonal() += jmodel.jointVelocitySelector(model.armature); |
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internal::PerformStYSInversion<Scalar>::run(jdata.StU(), jdata.Dinv()); |
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jdata.UDinv().noalias() = |
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Jcols |
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* jdata.Dinv().transpose(); //@justin can we remove the transpose since Dinv() is symmetric? |
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data.oK[i].noalias() = jdata.UDinv() * Jcols.transpose(); |
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data.oL[i].noalias() = -jdata.UDinv() * jdata.U().transpose(); |
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data.oL[i] += Matrix6::Identity(); |
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if (parent > 0) |
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{ |
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jdata.UDinv().noalias() = jdata.U() * jdata.Dinv(); |
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data.oYaba[parent] += Ia; |
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data.oYaba[parent].noalias() -= jdata.UDinv() * jdata.U().transpose(); |
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} |
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} |
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}; |
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template< |
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typename Scalar, |
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int Options, |
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template<typename, int> |
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class JointCollectionTpl, |
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typename ConfigVectorType, |
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class ModelAllocator, |
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class DataAllocator, |
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typename MatrixType> |
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void computeDelassusMatrix( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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DataTpl<Scalar, Options, JointCollectionTpl> & data, |
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const Eigen::MatrixBase<ConfigVectorType> & q, |
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const std::vector<RigidConstraintModelTpl<Scalar, Options>, ModelAllocator> & contact_models, |
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std::vector<RigidConstraintDataTpl<Scalar, Options>, DataAllocator> & contact_data, |
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const Eigen::MatrixBase<MatrixType> & delassus_, |
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const Scalar mu) |
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{ |
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assert(model.check(data) && "data is not consistent with model."); |
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PINOCCHIO_CHECK_ARGUMENT_SIZE( |
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q.size(), model.nq, "The joint configuration vector is not of right size"); |
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PINOCCHIO_CHECK_INPUT_ARGUMENT( |
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check_expression_if_real<Scalar>(mu >= Scalar(0)), "mu has to be positive"); |
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PINOCCHIO_CHECK_ARGUMENT_SIZE( |
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contact_models.size(), contact_data.size(), "contact models and data size are not the same"); |
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MatrixType & delassus = delassus_.const_cast_derived(); |
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const size_t constraint_total_size = getTotalConstraintSize(contact_models); |
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PINOCCHIO_CHECK_ARGUMENT_SIZE(delassus_.rows(), (Eigen::DenseIndex)constraint_total_size); |
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PINOCCHIO_CHECK_ARGUMENT_SIZE(delassus_.cols(), (Eigen::DenseIndex)constraint_total_size); |
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typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model; |
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typedef DataTpl<Scalar, Options, JointCollectionTpl> Data; |
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typedef typename Model::JointIndex JointIndex; |
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typedef typename Model::SE3 SE3; |
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typedef typename Model::IndexVector IndexVector; |
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typedef RigidConstraintModelTpl<Scalar, Options> RigidConstraintModel; |
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typedef RigidConstraintDataTpl<Scalar, Options> RigidConstraintData; |
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typedef ComputeOSIMForwardStep<Scalar, Options, JointCollectionTpl, ConfigVectorType> Pass1; |
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for (JointIndex i = 1; i < (JointIndex)model.njoints; ++i) |
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{ |
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Pass1::run( |
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model.joints[i], data.joints[i], typename Pass1::ArgsType(model, data, q.derived())); |
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} |
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for (size_t k = 0; k < contact_models.size(); ++k) |
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{ |
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const RigidConstraintModel & cmodel = contact_models[k]; |
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RigidConstraintData & cdata = contact_data[k]; |
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const JointIndex joint1_id = cmodel.joint1_id; |
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// Compute relative placement between the joint and the contact frame |
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SE3 & oMc = cdata.oMc1; |
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oMc = data.oMi[joint1_id] * cmodel.joint1_placement; // contact placement |
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typedef typename Data::Inertia Inertia; |
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typedef typename Inertia::Symmetric3 Symmetric3; |
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// Add contact inertia to the joint articulated inertia |
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Symmetric3 S(Symmetric3::Zero()); |
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if (cmodel.type == CONTACT_6D) |
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S.setDiagonal(Symmetric3::Vector3::Constant(mu)); |
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const Inertia contact_inertia(mu, oMc.translation(), S); |
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data.oYaba[joint1_id] += contact_inertia.matrix(); |
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} |
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typedef ComputeOSIMBackwardStep<Scalar, Options, JointCollectionTpl> Pass2; |
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for (JointIndex i = (JointIndex)model.njoints - 1; i > 0; --i) |
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{ |
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Pass2::run(model.joints[i], data.joints[i], typename Pass2::ArgsType(model, data)); |
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} |
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Eigen::DenseIndex current_row_id = 0; |
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for (size_t k = 0; k < contact_models.size(); ++k) |
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{ |
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typedef typename RigidConstraintData::VectorOfMatrix6 VectorOfMatrix6; |
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const RigidConstraintModel & cmodel = contact_models[k]; |
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RigidConstraintData & cdata = contact_data[k]; |
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const JointIndex joint1_id = cmodel.joint1_id; |
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const SE3 & oMc1 = cdata.oMc1; |
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const IndexVector & support1 = model.supports[joint1_id]; |
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{ |
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VectorOfMatrix6 & propagators = cdata.extended_motion_propagators_joint1; |
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VectorOfMatrix6 & lambdas = cdata.lambdas_joint1; |
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switch (cmodel.type) |
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{ |
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case CONTACT_3D: { |
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oMc1.toActionMatrixInverse(propagators.back()); |
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propagators.back().template bottomRows<3>().setZero(); |
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for (size_t j = support1.size() - 1; j > 1; --j) |
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{ |
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lambdas[j].template leftCols<3>().noalias() = |
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data.oK[(size_t)support1[j]] * propagators[j].template topRows<3>().transpose(); |
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propagators[j - 1].template topRows<3>().noalias() = |
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propagators[j].template topRows<3>() * data.oL[(size_t)support1[j]]; |
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} |
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lambdas[1].template leftCols<3>().noalias() = |
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data.oK[(size_t)support1[1]] * propagators[1].template topRows<3>().transpose(); |
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for (size_t j = 2; j < support1.size(); ++j) |
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{ |
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lambdas[j].template leftCols<3>().noalias() += |
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data.oL[(size_t)support1[j]] * lambdas[j - 1].template leftCols<3>(); |
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} |
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break; |
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} |
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case CONTACT_6D: { |
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oMc1.toActionMatrixInverse(propagators.back()); |
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for (size_t j = support1.size() - 1; j > 1; --j) |
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{ |
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lambdas[j].noalias() = data.oK[(size_t)support1[j]] * propagators[j].transpose(); |
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propagators[j - 1].noalias() = propagators[j] * data.oL[(size_t)support1[j]]; |
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} |
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lambdas[1].noalias() = data.oK[(size_t)support1[1]] * propagators[1].transpose(); |
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for (size_t j = 2; j < support1.size(); ++j) |
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{ |
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lambdas[j].noalias() += data.oL[(size_t)support1[j]] * lambdas[j - 1]; |
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} |
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break; |
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} |
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default: { |
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assert(false && "must never happened"); |
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break; |
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} |
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} |
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} |
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// Fill the delassus matrix block-wise |
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{ |
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const int size = cmodel.size(); |
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const VectorOfMatrix6 & propagators = cdata.extended_motion_propagators_joint1; |
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const VectorOfMatrix6 & lambdas = cdata.lambdas_joint1; |
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Eigen::DenseIndex current_row_id_other = 0; |
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for (size_t i = 0; i < k; ++i) |
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{ |
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const RigidConstraintModel & cmodel_other = contact_models[i]; |
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const RigidConstraintData & cdata_other = contact_data[i]; |
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const int size_other = cmodel_other.size(); |
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const IndexVector & support1_other = model.supports[cmodel_other.joint1_id]; |
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const VectorOfMatrix6 & propagators_other = |
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cdata_other.extended_motion_propagators_joint1; |
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size_t id_in_support1, id_in_support1_other; |
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findCommonAncestor( |
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model, joint1_id, cmodel_other.joint1_id, id_in_support1, id_in_support1_other); |
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delassus.block(current_row_id_other, current_row_id, size_other, size).noalias() = |
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propagators_other[id_in_support1_other].topRows(size_other) |
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* lambdas[id_in_support1].leftCols(size); |
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current_row_id_other += size_other; |
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} |
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assert(current_row_id_other == current_row_id && "current row indexes do not match."); |
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delassus.block(current_row_id, current_row_id, size, size).noalias() = |
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propagators.back().topRows(size) * lambdas.back().leftCols(size); |
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current_row_id += size; |
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} |
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} |
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assert( |
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current_row_id == delassus.rows() |
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&& "current row indexes do not the number of rows in the Delassus matrix."); |
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} |
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template< |
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typename Scalar, |
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int Options, |
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template<typename, int> |
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class JointCollectionTpl, |
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class Allocator> |
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inline void initPvDelassus( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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DataTpl<Scalar, Options, JointCollectionTpl> & data, |
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const std::vector<RigidConstraintModelTpl<Scalar, Options>, Allocator> & contact_models) |
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{ |
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std::fill(data.constraints_supported_dim.begin(), data.constraints_supported_dim.end(), 0); |
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for (std::size_t i = 0; i < contact_models.size(); ++i) |
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{ |
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const RigidConstraintModelTpl<Scalar, Options> & contact_model = contact_models[i]; |
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const JointIndex & joint_id = contact_model.joint1_id; |
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switch (contact_model.reference_frame) |
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{ |
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case LOCAL: |
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if (contact_model.type == CONTACT_6D) |
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data.constraints_supported_dim[joint_id] += 6; |
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else if (contact_model.type == CONTACT_3D) |
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data.constraints_supported_dim[joint_id] += 3; |
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else |
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assert(false && "Must never happen"); |
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break; |
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case WORLD: |
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assert(false && "WORLD not implemented"); |
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break; |
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case LOCAL_WORLD_ALIGNED: |
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assert(false && "LOCAL_WORLD_ALIGNED not implemented"); |
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break; |
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default: |
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assert(false && "Must never happen"); |
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break; |
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} |
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|
|
data.accumulation_descendant[joint_id] = joint_id; |
| 322 |
|
|
|
| 323 |
|
|
data.constraints_on_joint[joint_id].push_back(i); |
| 324 |
|
|
} |
| 325 |
|
|
|
| 326 |
|
|
// Running backprop to get the count of constraints |
| 327 |
|
|
for (JointIndex i = (JointIndex)model.njoints - 1; i > 0; --i) |
| 328 |
|
|
{ |
| 329 |
|
|
const JointIndex & parent = model.parents[i]; |
| 330 |
|
|
data.constraints_supported_dim[parent] += data.constraints_supported_dim[i]; |
| 331 |
|
|
for (std::size_t constraint : data.constraints_on_joint[i]) |
| 332 |
|
|
data.constraints_supported[i].insert(constraint); |
| 333 |
|
|
for (std::size_t constraint : data.constraints_supported[i]) |
| 334 |
|
|
data.constraints_supported[parent].insert( |
| 335 |
|
|
constraint); // For loops, will need to use a set data-structure |
| 336 |
|
|
} |
| 337 |
|
|
// Assign accumulation descendants for branching nodes |
| 338 |
|
|
for (JointIndex i = (JointIndex)model.njoints - 1; i > 0; --i) |
| 339 |
|
|
{ |
| 340 |
|
|
const JointIndex & parent = model.parents[i]; |
| 341 |
|
|
if (data.constraints_supported_dim[i] > 0) |
| 342 |
|
|
{ |
| 343 |
|
|
data.joints_supporting_constraints.push_back(i); |
| 344 |
|
|
data.accumulation_descendant[parent] = data.accumulation_descendant[i]; |
| 345 |
|
|
if (data.constraints_supported_dim[parent] > data.constraints_supported_dim[i]) |
| 346 |
|
|
{ |
| 347 |
|
|
data.accumulation_descendant[parent] = parent; |
| 348 |
|
|
} |
| 349 |
|
|
} |
| 350 |
|
|
} |
| 351 |
|
|
|
| 352 |
|
|
for (JointIndex i = 1; i < (JointIndex)model.njoints; i++) |
| 353 |
|
|
{ |
| 354 |
|
|
if (data.accumulation_descendant[i] == i) |
| 355 |
|
|
data.accumulation_joints.push_back(i); |
| 356 |
|
|
} |
| 357 |
|
|
// Assign accumulation ancestors |
| 358 |
|
|
for (JointIndex i = (JointIndex)model.njoints - 1; i > 0; --i) |
| 359 |
|
|
{ |
| 360 |
|
|
const JointIndex & parent = model.parents[i]; |
| 361 |
|
|
if (data.accumulation_descendant[parent] == parent) |
| 362 |
|
|
{ |
| 363 |
|
|
if (data.accumulation_descendant[i] != 0) |
| 364 |
|
|
data.accumulation_ancestor[data.accumulation_descendant[i]] = parent; |
| 365 |
|
|
} |
| 366 |
|
|
} |
| 367 |
|
|
} |
| 368 |
|
|
|
| 369 |
|
|
template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
| 370 |
|
✗ |
JointIndex findGreatestCommonAncestor( |
| 371 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 372 |
|
|
const DataTpl<Scalar, Options, JointCollectionTpl> & data, |
| 373 |
|
|
JointIndex joint1_id, |
| 374 |
|
|
JointIndex joint2_id, |
| 375 |
|
|
size_t & index_ancestor_in_support1, |
| 376 |
|
|
size_t & index_ancestor_in_support2) |
| 377 |
|
|
{ |
| 378 |
|
✗ |
PINOCCHIO_CHECK_INPUT_ARGUMENT( |
| 379 |
|
|
joint1_id < (JointIndex)model.njoints, "joint1_id is not valid."); |
| 380 |
|
✗ |
PINOCCHIO_CHECK_INPUT_ARGUMENT( |
| 381 |
|
|
joint2_id < (JointIndex)model.njoints, "joint2_id is not valid."); |
| 382 |
|
|
|
| 383 |
|
✗ |
if (joint1_id == 0 || joint2_id == 0) |
| 384 |
|
|
{ |
| 385 |
|
✗ |
index_ancestor_in_support1 = index_ancestor_in_support2 = 0; |
| 386 |
|
✗ |
return 0; |
| 387 |
|
|
} |
| 388 |
|
|
|
| 389 |
|
✗ |
index_ancestor_in_support1 = 0; |
| 390 |
|
✗ |
index_ancestor_in_support2 = 0; |
| 391 |
|
|
|
| 392 |
|
✗ |
if (data.constraints_supported[joint1_id].size() > 1) |
| 393 |
|
✗ |
index_ancestor_in_support1++; |
| 394 |
|
✗ |
if (data.constraints_supported[joint2_id].size() > 1) |
| 395 |
|
✗ |
index_ancestor_in_support2++; |
| 396 |
|
|
|
| 397 |
|
✗ |
while (joint1_id != joint2_id) |
| 398 |
|
|
{ |
| 399 |
|
✗ |
if (joint1_id > joint2_id) |
| 400 |
|
|
{ |
| 401 |
|
✗ |
joint1_id = data.accumulation_ancestor[joint1_id]; |
| 402 |
|
✗ |
index_ancestor_in_support1++; |
| 403 |
|
|
} |
| 404 |
|
|
else |
| 405 |
|
|
{ |
| 406 |
|
✗ |
joint2_id = data.accumulation_ancestor[joint2_id]; |
| 407 |
|
✗ |
index_ancestor_in_support2++; |
| 408 |
|
|
} |
| 409 |
|
|
} |
| 410 |
|
|
|
| 411 |
|
✗ |
index_ancestor_in_support1--; |
| 412 |
|
✗ |
index_ancestor_in_support2--; |
| 413 |
|
|
|
| 414 |
|
✗ |
return joint1_id; |
| 415 |
|
|
} |
| 416 |
|
|
|
| 417 |
|
|
template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
| 418 |
|
|
struct ComputePvDelassusBackwardStep |
| 419 |
|
|
: public fusion::JointUnaryVisitorBase< |
| 420 |
|
|
ComputeOSIMBackwardStep<Scalar, Options, JointCollectionTpl>> |
| 421 |
|
|
{ |
| 422 |
|
|
typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model; |
| 423 |
|
|
typedef DataTpl<Scalar, Options, JointCollectionTpl> Data; |
| 424 |
|
|
|
| 425 |
|
|
typedef boost::fusion::vector<const Model &, Data &> ArgsType; |
| 426 |
|
|
|
| 427 |
|
|
template<typename JointModel> |
| 428 |
|
|
static void algo( |
| 429 |
|
|
const JointModelBase<JointModel> & jmodel, |
| 430 |
|
|
JointDataBase<typename JointModel::JointDataDerived> & jdata, |
| 431 |
|
|
const Model & model, |
| 432 |
|
|
Data & data) |
| 433 |
|
|
{ |
| 434 |
|
|
typedef typename Model::JointIndex JointIndex; |
| 435 |
|
|
typedef typename Data::Inertia Inertia; |
| 436 |
|
|
typedef typename Data::Matrix6x Matrix6x; |
| 437 |
|
|
|
| 438 |
|
|
const JointIndex i = jmodel.id(); |
| 439 |
|
|
const JointIndex parent = model.parents[i]; |
| 440 |
|
|
typename Inertia::Matrix6 & Ia = data.oYaba[i]; |
| 441 |
|
|
|
| 442 |
|
|
typedef typename SizeDepType<JointModel::NV>::template ColsReturn<Matrix6x>::Type ColBlock; |
| 443 |
|
|
ColBlock Jcols = jmodel.jointCols(data.J); |
| 444 |
|
|
|
| 445 |
|
|
jdata.U().noalias() = Ia * Jcols; |
| 446 |
|
|
jdata.StU().noalias() = Jcols.transpose() * jdata.U(); |
| 447 |
|
|
|
| 448 |
|
|
// Account for the rotor inertia contribution |
| 449 |
|
|
jdata.StU().diagonal() += jmodel.jointVelocitySelector(model.armature); |
| 450 |
|
|
|
| 451 |
|
|
internal::PerformStYSInversion<Scalar>::run(jdata.StU(), jdata.Dinv()); |
| 452 |
|
|
|
| 453 |
|
|
jdata.UDinv().noalias() = Jcols * jdata.Dinv().transpose(); |
| 454 |
|
|
data.oL[i].setIdentity(); |
| 455 |
|
|
data.oL[i].noalias() -= jdata.UDinv() * jdata.U().transpose(); |
| 456 |
|
|
|
| 457 |
|
|
if (parent > 0) |
| 458 |
|
|
{ |
| 459 |
|
|
data.oYaba[parent].noalias() = Ia - jdata.UDinv() * jdata.U().transpose(); |
| 460 |
|
|
} |
| 461 |
|
|
} |
| 462 |
|
|
}; |
| 463 |
|
|
|
| 464 |
|
|
template< |
| 465 |
|
|
typename Scalar, |
| 466 |
|
|
int Options, |
| 467 |
|
|
template<typename, int> |
| 468 |
|
|
class JointCollectionTpl, |
| 469 |
|
|
typename ConfigVectorType, |
| 470 |
|
|
class ModelAllocator, |
| 471 |
|
|
class DataAllocator, |
| 472 |
|
|
typename MatrixType> |
| 473 |
|
✗ |
void computePvDelassusMatrix( |
| 474 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 475 |
|
|
DataTpl<Scalar, Options, JointCollectionTpl> & data, |
| 476 |
|
|
const Eigen::MatrixBase<ConfigVectorType> & q, |
| 477 |
|
|
const std::vector<RigidConstraintModelTpl<Scalar, Options>, ModelAllocator> & contact_models, |
| 478 |
|
|
std::vector<RigidConstraintDataTpl<Scalar, Options>, DataAllocator> & contact_data, |
| 479 |
|
|
const Eigen::MatrixBase<MatrixType> & delassus_, |
| 480 |
|
|
const Scalar mu) |
| 481 |
|
|
{ |
| 482 |
|
✗ |
assert(model.check(data) && "data is not consistent with model."); |
| 483 |
|
✗ |
PINOCCHIO_CHECK_ARGUMENT_SIZE( |
| 484 |
|
|
q.size(), model.nq, "The joint configuration vector is not of right size"); |
| 485 |
|
✗ |
PINOCCHIO_CHECK_INPUT_ARGUMENT( |
| 486 |
|
|
check_expression_if_real<Scalar>(mu >= Scalar(0)), "mu has to be positive"); |
| 487 |
|
✗ |
PINOCCHIO_CHECK_ARGUMENT_SIZE( |
| 488 |
|
|
contact_models.size(), contact_data.size(), "contact models and data size are not the same"); |
| 489 |
|
|
|
| 490 |
|
✗ |
MatrixType & delassus = delassus_.const_cast_derived(); |
| 491 |
|
✗ |
const size_t constraint_total_size = getTotalConstraintSize(contact_models); |
| 492 |
|
✗ |
PINOCCHIO_CHECK_ARGUMENT_SIZE(delassus_.rows(), (Eigen::DenseIndex)constraint_total_size); |
| 493 |
|
✗ |
PINOCCHIO_CHECK_ARGUMENT_SIZE(delassus_.cols(), (Eigen::DenseIndex)constraint_total_size); |
| 494 |
|
|
|
| 495 |
|
|
typedef DataTpl<Scalar, Options, JointCollectionTpl> Data; |
| 496 |
|
|
|
| 497 |
|
✗ |
typename Data::Vector6 scratch_pad_vector = Data::Vector6::Zero(); |
| 498 |
|
✗ |
typename Data::Vector6 scratch_pad_vector2 = Data::Vector6::Zero(); |
| 499 |
|
|
|
| 500 |
|
✗ |
typename Data::Matrix6 scratch_pad1; |
| 501 |
|
✗ |
typename Data::Matrix6 scratch_pad2; |
| 502 |
|
|
|
| 503 |
|
|
typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model; |
| 504 |
|
|
|
| 505 |
|
|
typedef typename Model::JointIndex JointIndex; |
| 506 |
|
|
typedef typename Model::SE3 SE3; |
| 507 |
|
|
typedef RigidConstraintModelTpl<Scalar, Options> RigidConstraintModel; |
| 508 |
|
|
typedef RigidConstraintDataTpl<Scalar, Options> RigidConstraintData; |
| 509 |
|
|
|
| 510 |
|
|
typedef ComputeOSIMForwardStep<Scalar, Options, JointCollectionTpl, ConfigVectorType> Pass1; |
| 511 |
|
✗ |
for (JointIndex i = 1; i < (JointIndex)model.njoints; ++i) |
| 512 |
|
|
{ |
| 513 |
|
✗ |
Pass1::run( |
| 514 |
|
✗ |
model.joints[i], data.joints[i], typename Pass1::ArgsType(model, data, q.derived())); |
| 515 |
|
|
} |
| 516 |
|
|
|
| 517 |
|
✗ |
for (size_t k = 0; k < contact_models.size(); ++k) |
| 518 |
|
|
{ |
| 519 |
|
✗ |
const RigidConstraintModel & cmodel = contact_models[k]; |
| 520 |
|
✗ |
RigidConstraintData & cdata = contact_data[k]; |
| 521 |
|
|
|
| 522 |
|
✗ |
const JointIndex joint1_id = cmodel.joint1_id; |
| 523 |
|
|
|
| 524 |
|
|
// Compute relative placement between the joint and the contact frame |
| 525 |
|
✗ |
SE3 & oMc = cdata.oMc1; |
| 526 |
|
✗ |
oMc = data.oMi[joint1_id] * cmodel.joint1_placement; // contact placement |
| 527 |
|
|
|
| 528 |
|
|
typedef typename Data::Inertia Inertia; |
| 529 |
|
|
typedef typename Inertia::Symmetric3 Symmetric3; |
| 530 |
|
|
|
| 531 |
|
|
// Add contact inertia to the joint articulated inertia |
| 532 |
|
✗ |
Symmetric3 S(Symmetric3::Zero()); |
| 533 |
|
✗ |
if (cmodel.type == CONTACT_6D) |
| 534 |
|
✗ |
S.setDiagonal(Symmetric3::Vector3::Constant(mu)); |
| 535 |
|
|
|
| 536 |
|
✗ |
const Inertia contact_inertia(mu, oMc.translation(), S); |
| 537 |
|
✗ |
data.oYaba[joint1_id] += contact_inertia.matrix(); |
| 538 |
|
|
|
| 539 |
|
|
typedef typename RigidConstraintData::VectorOfMatrix6 VectorOfMatrix6; |
| 540 |
|
|
|
| 541 |
|
✗ |
VectorOfMatrix6 & propagators = cdata.extended_motion_propagators_joint1; |
| 542 |
|
✗ |
switch (cmodel.type) |
| 543 |
|
|
{ |
| 544 |
|
✗ |
case CONTACT_3D: { |
| 545 |
|
✗ |
oMc.toActionMatrixInverse(propagators[0]); |
| 546 |
|
✗ |
propagators[0].template bottomRows<3>().setZero(); |
| 547 |
|
✗ |
break; |
| 548 |
|
|
} |
| 549 |
|
✗ |
case CONTACT_6D: { |
| 550 |
|
✗ |
oMc.toActionMatrixInverse(propagators[0]); |
| 551 |
|
✗ |
break; |
| 552 |
|
|
} |
| 553 |
|
|
|
| 554 |
|
✗ |
default: { |
| 555 |
|
✗ |
assert(false && "must never happen"); |
| 556 |
|
|
break; |
| 557 |
|
|
} |
| 558 |
|
|
} |
| 559 |
|
|
} |
| 560 |
|
|
|
| 561 |
|
|
// Initialize motion propagator and spatial_inv_inertia at all the accumulation joints |
| 562 |
|
✗ |
for (JointIndex i : data.accumulation_joints) |
| 563 |
|
|
{ |
| 564 |
|
|
|
| 565 |
|
✗ |
if (data.constraints_supported[i].size() == 1) |
| 566 |
|
|
{ |
| 567 |
|
✗ |
size_t constraint = data.constraints_on_joint[i][0]; |
| 568 |
|
✗ |
data.extended_motion_propagator[i] = |
| 569 |
|
✗ |
contact_data[constraint].extended_motion_propagators_joint1[0]; |
| 570 |
|
|
} |
| 571 |
|
|
else |
| 572 |
|
|
{ |
| 573 |
|
✗ |
data.extended_motion_propagator[i].setIdentity(); |
| 574 |
|
|
} |
| 575 |
|
✗ |
data.spatial_inv_inertia[i].setZero(); |
| 576 |
|
|
} |
| 577 |
|
|
|
| 578 |
|
|
typedef ComputePvDelassusBackwardStep<Scalar, Options, JointCollectionTpl> Pass2; |
| 579 |
|
✗ |
for (JointIndex i = (JointIndex)model.njoints - 1; i > 0; --i) |
| 580 |
|
|
{ |
| 581 |
|
✗ |
Pass2::run(model.joints[i], data.joints[i], typename Pass2::ArgsType(model, data)); |
| 582 |
|
|
|
| 583 |
|
✗ |
if (data.constraints_supported_dim[i] > 0) |
| 584 |
|
|
{ |
| 585 |
|
✗ |
size_t ad_i = data.accumulation_descendant[i]; |
| 586 |
|
✗ |
int nv = model.joints[i].nv(); |
| 587 |
|
|
// propagate the spatial inverse inertia |
| 588 |
|
✗ |
if (nv == 1) |
| 589 |
|
|
{ |
| 590 |
|
|
// Optimization for single DoF joints |
| 591 |
|
✗ |
if (data.constraints_supported_dim[ad_i] != 3) |
| 592 |
|
|
{ |
| 593 |
|
|
// When propagating 6D constraints |
| 594 |
|
✗ |
scratch_pad_vector.noalias() = |
| 595 |
|
✗ |
data.extended_motion_propagator[i] * model.joints[i].jointCols(data.J); |
| 596 |
|
✗ |
scratch_pad_vector2.noalias() = scratch_pad_vector * data.joints[i].Dinv().coeff(0, 0); |
| 597 |
|
✗ |
data.spatial_inv_inertia[ad_i].noalias() += |
| 598 |
|
✗ |
scratch_pad_vector2 * scratch_pad_vector.transpose(); |
| 599 |
|
|
} |
| 600 |
|
|
else |
| 601 |
|
|
{ |
| 602 |
|
|
// Propagating 3D constraints |
| 603 |
|
✗ |
scratch_pad_vector.template topRows<3>().noalias() = |
| 604 |
|
✗ |
data.extended_motion_propagator[i].template topRows<3>() |
| 605 |
|
✗ |
* model.joints[i].jointCols(data.J); |
| 606 |
|
✗ |
scratch_pad_vector2.template topRows<3>().noalias() = |
| 607 |
|
✗ |
scratch_pad_vector.template topRows<3>() * data.joints[i].Dinv().coeff(0, 0); |
| 608 |
|
✗ |
data.spatial_inv_inertia[ad_i].template topLeftCorner<3, 3>().noalias() += |
| 609 |
|
✗ |
scratch_pad_vector2.template topRows<3>() |
| 610 |
|
✗ |
* scratch_pad_vector.template topRows<3>().transpose(); |
| 611 |
|
|
} |
| 612 |
|
|
} |
| 613 |
|
✗ |
else if (nv == 6) |
| 614 |
|
|
{ |
| 615 |
|
✗ |
scratch_pad1.noalias() = |
| 616 |
|
✗ |
data.extended_motion_propagator[i] * model.joints[i].jointCols(data.J); |
| 617 |
|
✗ |
scratch_pad2.noalias() = scratch_pad1 * data.joints[i].Dinv(); |
| 618 |
|
✗ |
data.spatial_inv_inertia[ad_i].noalias() += scratch_pad2 * scratch_pad1.transpose(); |
| 619 |
|
|
} |
| 620 |
|
✗ |
else if (nv > 1) |
| 621 |
|
|
{ |
| 622 |
|
|
// Joints with more than 1 DoF |
| 623 |
|
✗ |
scratch_pad1.leftCols(nv).noalias() = |
| 624 |
|
✗ |
data.extended_motion_propagator[i] * model.joints[i].jointCols(data.J); |
| 625 |
|
✗ |
scratch_pad2.leftCols(nv).noalias() = scratch_pad1.leftCols(nv) * data.joints[i].Dinv(); |
| 626 |
|
✗ |
data.spatial_inv_inertia[ad_i].noalias() += |
| 627 |
|
✗ |
scratch_pad2.leftCols(nv) * scratch_pad1.leftCols(nv).transpose(); |
| 628 |
|
|
} |
| 629 |
|
|
else |
| 630 |
|
|
{ |
| 631 |
|
✗ |
assert(false && "must never happen"); |
| 632 |
|
|
} |
| 633 |
|
|
// propagate the EMP |
| 634 |
|
✗ |
const JointIndex parent = model.parents[i]; |
| 635 |
|
✗ |
size_t par_ad_i = data.accumulation_descendant[parent]; |
| 636 |
|
✗ |
if (parent > 0 && par_ad_i == ad_i) |
| 637 |
|
|
{ |
| 638 |
|
|
|
| 639 |
|
✗ |
if (data.constraints_supported_dim[ad_i] != 3) |
| 640 |
|
|
{ |
| 641 |
|
✗ |
data.extended_motion_propagator[parent].noalias() = |
| 642 |
|
✗ |
data.extended_motion_propagator[i] * data.oL[i]; |
| 643 |
|
|
} |
| 644 |
|
|
else |
| 645 |
|
|
{ |
| 646 |
|
✗ |
data.extended_motion_propagator[parent].template topRows<3>().noalias() = |
| 647 |
|
✗ |
data.extended_motion_propagator[i].template topRows<3>() * data.oL[i]; |
| 648 |
|
|
} |
| 649 |
|
|
} |
| 650 |
|
✗ |
else if (par_ad_i != ad_i) // TODO: optimize for 3D constraints |
| 651 |
|
|
{ |
| 652 |
|
✗ |
data.extended_motion_propagator2[ad_i].noalias() = |
| 653 |
|
✗ |
data.extended_motion_propagator[i] * data.oL[i]; |
| 654 |
|
|
} |
| 655 |
|
|
} |
| 656 |
|
|
} |
| 657 |
|
|
|
| 658 |
|
✗ |
for (JointIndex i : data.accumulation_joints) |
| 659 |
|
|
{ |
| 660 |
|
|
|
| 661 |
|
✗ |
size_t an_i = data.accumulation_ancestor[i]; |
| 662 |
|
✗ |
if (an_i != 0) // TODO: optimize for 3D constraints. Not very important here. |
| 663 |
|
|
{ |
| 664 |
|
✗ |
scratch_pad1.noalias() = |
| 665 |
|
✗ |
data.extended_motion_propagator2[i] * data.spatial_inv_inertia[an_i]; |
| 666 |
|
✗ |
data.spatial_inv_inertia[i].noalias() += |
| 667 |
|
✗ |
scratch_pad1 * data.extended_motion_propagator2[i].transpose(); |
| 668 |
|
|
} |
| 669 |
|
|
} |
| 670 |
|
|
|
| 671 |
|
|
typedef typename RigidConstraintData::VectorOfMatrix6 VectorOfMatrix6; |
| 672 |
|
|
// compute EMP in the reverse direction |
| 673 |
|
✗ |
for (size_t k = 0; k < contact_models.size(); ++k) |
| 674 |
|
|
{ |
| 675 |
|
✗ |
VectorOfMatrix6 & cemp = contact_data[k].extended_motion_propagators_joint1; |
| 676 |
|
✗ |
JointIndex curr_joint = contact_models[k].joint1_id; |
| 677 |
|
|
|
| 678 |
|
|
JointIndex an_i; |
| 679 |
|
|
|
| 680 |
|
✗ |
if (data.constraints_supported[curr_joint].size() == 1) |
| 681 |
|
|
{ |
| 682 |
|
✗ |
cemp[0] = data.extended_motion_propagator2[curr_joint]; |
| 683 |
|
✗ |
an_i = data.accumulation_ancestor[curr_joint]; |
| 684 |
|
|
} |
| 685 |
|
|
else |
| 686 |
|
|
{ |
| 687 |
|
✗ |
an_i = curr_joint; |
| 688 |
|
|
} |
| 689 |
|
|
|
| 690 |
|
✗ |
size_t counter = 1; |
| 691 |
|
✗ |
while (an_i > 1) |
| 692 |
|
|
{ |
| 693 |
|
✗ |
if (contact_models[k].size() != 3) |
| 694 |
|
✗ |
cemp[counter].noalias() = cemp[counter - 1] * data.extended_motion_propagator2[an_i]; |
| 695 |
|
|
else |
| 696 |
|
✗ |
cemp[counter].template topRows<3>().noalias() = |
| 697 |
|
✗ |
cemp[counter - 1].template topRows<3>() * data.extended_motion_propagator2[an_i]; |
| 698 |
|
✗ |
curr_joint = an_i; |
| 699 |
|
✗ |
an_i = data.accumulation_ancestor[curr_joint]; |
| 700 |
|
✗ |
counter++; |
| 701 |
|
|
} |
| 702 |
|
|
} |
| 703 |
|
|
|
| 704 |
|
✗ |
Eigen::DenseIndex current_row_id = 0; |
| 705 |
|
✗ |
for (size_t k = 0; k < contact_models.size(); ++k) |
| 706 |
|
|
{ |
| 707 |
|
✗ |
const RigidConstraintModel & cmodel = contact_models[k]; |
| 708 |
|
✗ |
RigidConstraintData & cdata = contact_data[k]; |
| 709 |
|
✗ |
const VectorOfMatrix6 & cemp = cdata.extended_motion_propagators_joint1; |
| 710 |
|
|
|
| 711 |
|
✗ |
const JointIndex joint1_id = cmodel.joint1_id; |
| 712 |
|
|
|
| 713 |
|
|
// Fill the delassus matrix block-wise |
| 714 |
|
|
{ |
| 715 |
|
✗ |
const int size = cmodel.size(); |
| 716 |
|
|
|
| 717 |
|
✗ |
Eigen::DenseIndex current_row_id_other = 0; |
| 718 |
|
✗ |
for (size_t i = 0; i < k; ++i) |
| 719 |
|
|
{ |
| 720 |
|
✗ |
RigidConstraintData & cdata_other = contact_data[i]; |
| 721 |
|
✗ |
const RigidConstraintModel & cmodel_other = contact_models[i]; |
| 722 |
|
✗ |
const int size_other = cmodel_other.size(); |
| 723 |
|
✗ |
const JointIndex joint1_id_other = cmodel_other.joint1_id; |
| 724 |
|
|
|
| 725 |
|
✗ |
const VectorOfMatrix6 & cemp_other = cdata_other.extended_motion_propagators_joint1; |
| 726 |
|
|
|
| 727 |
|
|
size_t id_in_support1, id_in_support1_other, gca; |
| 728 |
|
✗ |
gca = findGreatestCommonAncestor( |
| 729 |
|
|
model, data, joint1_id, joint1_id_other, id_in_support1, id_in_support1_other); |
| 730 |
|
|
|
| 731 |
|
✗ |
scratch_pad1.noalias() = cemp_other[id_in_support1_other] * data.spatial_inv_inertia[gca]; |
| 732 |
|
✗ |
if (size == 6) |
| 733 |
|
|
{ |
| 734 |
|
✗ |
if (size_other == 6) |
| 735 |
|
✗ |
delassus.template block<6, 6>(current_row_id_other, current_row_id).noalias() = |
| 736 |
|
✗ |
scratch_pad1 * cemp[id_in_support1].transpose(); |
| 737 |
|
✗ |
else if (size_other == 3) |
| 738 |
|
✗ |
delassus.template block<3, 6>(current_row_id_other, current_row_id).noalias() = |
| 739 |
|
✗ |
scratch_pad1.template topRows<3>() |
| 740 |
|
✗ |
* cemp[id_in_support1].template topRows<6>().transpose(); |
| 741 |
|
|
} |
| 742 |
|
✗ |
else if (size == 3) |
| 743 |
|
|
{ |
| 744 |
|
✗ |
if (size_other == 6) |
| 745 |
|
✗ |
delassus.template block<6, 3>(current_row_id_other, current_row_id).noalias() = |
| 746 |
|
✗ |
scratch_pad1.template topRows<6>() |
| 747 |
|
✗ |
* cemp[id_in_support1].template topRows<3>().transpose(); |
| 748 |
|
✗ |
else if (size_other == 3) |
| 749 |
|
✗ |
delassus.template block<3, 3>(current_row_id_other, current_row_id).noalias() = |
| 750 |
|
✗ |
scratch_pad1.template topRows<3>() |
| 751 |
|
✗ |
* cemp[id_in_support1].template topRows<3>().transpose(); |
| 752 |
|
|
} |
| 753 |
|
|
else |
| 754 |
|
|
{ |
| 755 |
|
✗ |
delassus.block(current_row_id_other, current_row_id, size_other, size).noalias() = |
| 756 |
|
✗ |
scratch_pad1.topRows(size_other) * cemp[id_in_support1].topRows(size).transpose(); |
| 757 |
|
|
} |
| 758 |
|
✗ |
current_row_id_other += size_other; |
| 759 |
|
|
} |
| 760 |
|
|
|
| 761 |
|
✗ |
assert(current_row_id_other == current_row_id && "current row indexes do not match."); |
| 762 |
|
✗ |
if ( |
| 763 |
|
✗ |
data.constraints_supported_dim[joint1_id] > 6 |
| 764 |
|
✗ |
|| data.constraints_supported[joint1_id].size() > 1) |
| 765 |
|
|
{ |
| 766 |
|
✗ |
scratch_pad1.noalias() = cemp[0] * data.spatial_inv_inertia[joint1_id]; |
| 767 |
|
✗ |
delassus.block(current_row_id, current_row_id, size, size).noalias() = |
| 768 |
|
✗ |
scratch_pad1.topRows(size) * cemp[0].topRows(size).transpose(); |
| 769 |
|
|
} |
| 770 |
|
|
else |
| 771 |
|
|
{ |
| 772 |
|
✗ |
if (size == 6) |
| 773 |
|
✗ |
delassus.template block<6, 6>(current_row_id, current_row_id) = |
| 774 |
|
✗ |
data.spatial_inv_inertia[joint1_id]; |
| 775 |
|
✗ |
else if (size == 3) |
| 776 |
|
✗ |
delassus.template block<3, 3>(current_row_id, current_row_id) = |
| 777 |
|
✗ |
data.spatial_inv_inertia[joint1_id].template topLeftCorner<3, 3>(); |
| 778 |
|
|
else |
| 779 |
|
✗ |
delassus.block(current_row_id, current_row_id, size, size) = |
| 780 |
|
✗ |
data.spatial_inv_inertia[joint1_id].topLeftCorner(size, size); |
| 781 |
|
|
} |
| 782 |
|
✗ |
current_row_id += size; |
| 783 |
|
|
} |
| 784 |
|
|
} |
| 785 |
|
✗ |
assert( |
| 786 |
|
|
current_row_id == delassus.rows() |
| 787 |
|
|
&& "current row indexes do not the number of rows in the Delassus matrix."); |
| 788 |
|
|
} |
| 789 |
|
|
|
| 790 |
|
|
template< |
| 791 |
|
|
typename Scalar, |
| 792 |
|
|
int Options, |
| 793 |
|
|
template<typename, int> |
| 794 |
|
|
class JointCollectionTpl, |
| 795 |
|
|
typename ConfigVectorType, |
| 796 |
|
|
class ModelAllocator, |
| 797 |
|
|
class DataAllocator, |
| 798 |
|
|
typename MatrixType> |
| 799 |
|
✗ |
void computeDampedDelassusMatrixInverse( |
| 800 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 801 |
|
|
DataTpl<Scalar, Options, JointCollectionTpl> & data, |
| 802 |
|
|
const Eigen::MatrixBase<ConfigVectorType> & q, |
| 803 |
|
|
const std::vector<RigidConstraintModelTpl<Scalar, Options>, ModelAllocator> & contact_models, |
| 804 |
|
|
std::vector<RigidConstraintDataTpl<Scalar, Options>, DataAllocator> & contact_data, |
| 805 |
|
|
const Eigen::MatrixBase<MatrixType> & damped_delassus_inverse_, |
| 806 |
|
|
const Scalar mu, |
| 807 |
|
|
const bool scaled, |
| 808 |
|
|
const bool Pv) |
| 809 |
|
|
{ |
| 810 |
|
✗ |
PINOCCHIO_CHECK_INPUT_ARGUMENT( |
| 811 |
|
|
check_expression_if_real<Scalar>(mu >= Eigen::NumTraits<Scalar>::dummy_precision()), |
| 812 |
|
|
"mu is too small."); |
| 813 |
|
|
|
| 814 |
|
✗ |
const Scalar mu_inv = Scalar(1) / mu; |
| 815 |
|
✗ |
MatrixType & damped_delassus_inverse = damped_delassus_inverse_.const_cast_derived(); |
| 816 |
|
|
|
| 817 |
|
✗ |
const Scalar mu_inv_square = mu_inv * mu_inv; |
| 818 |
|
✗ |
assert( |
| 819 |
|
|
check_expression_if_real<Scalar>(mu_inv_square != std::numeric_limits<Scalar>::infinity()) |
| 820 |
|
|
&& "mu_inv**2 is equal to infinity."); |
| 821 |
|
|
|
| 822 |
|
✗ |
if (Pv) |
| 823 |
|
✗ |
computePvDelassusMatrix( |
| 824 |
|
|
model, data, q, contact_models, contact_data, damped_delassus_inverse, mu_inv); |
| 825 |
|
|
else |
| 826 |
|
✗ |
computeDelassusMatrix( |
| 827 |
|
|
model, data, q, contact_models, contact_data, damped_delassus_inverse, mu_inv); |
| 828 |
|
|
|
| 829 |
|
✗ |
damped_delassus_inverse *= -mu_inv; |
| 830 |
|
✗ |
damped_delassus_inverse.diagonal().array() += Scalar(1); |
| 831 |
|
✗ |
if (!scaled) |
| 832 |
|
✗ |
damped_delassus_inverse *= mu_inv; |
| 833 |
|
|
} |
| 834 |
|
|
|
| 835 |
|
|
} // namespace pinocchio |
| 836 |
|
|
|
| 837 |
|
|
#endif // ifndef __pinocchio_algorithm_contact_delassus_hxx__ |
| 838 |
|
|
|