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// |
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// Copyright (c) 2017 CNRS, NYU, MPI Tübingen |
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// |
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// This file is part of tsid |
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// tsid is free software: you can redistribute it |
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// and/or modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation, either version |
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// 3 of the License, or (at your option) any later version. |
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// tsid is distributed in the hope that it will be |
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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// General Lesser Public License for more details. You should have |
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// received a copy of the GNU Lesser General Public License along with |
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// tsid If not, see |
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// <http://www.gnu.org/licenses/>. |
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// |
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#ifndef __invdyn_contact_point_hpp__ |
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#define __invdyn_contact_point_hpp__ |
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#include "tsid/contacts/contact-base.hpp" |
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#include "tsid/tasks/task-se3-equality.hpp" |
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#include "tsid/math/constraint-inequality.hpp" |
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#include "tsid/math/constraint-equality.hpp" |
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namespace tsid { |
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namespace contacts { |
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class ContactPoint : public ContactBase { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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typedef math::ConstRefMatrix ConstRefMatrix; |
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typedef math::ConstRefVector ConstRefVector; |
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typedef math::Matrix3x Matrix3x; |
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typedef math::Vector6 Vector6; |
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typedef math::Vector3 Vector3; |
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typedef math::Vector Vector; |
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typedef tasks::TaskSE3Equality TaskSE3Equality; |
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typedef math::ConstraintInequality ConstraintInequality; |
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typedef math::ConstraintEquality ConstraintEquality; |
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typedef pinocchio::SE3 SE3; |
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ContactPoint(const std::string& name, RobotWrapper& robot, |
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const std::string& frameName, ConstRefVector contactNormal, |
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const double frictionCoefficient, const double minNormalForce, |
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const double maxNormalForce); |
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✗ |
virtual ~ContactPoint() {} |
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/// Return the number of motion constraints |
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virtual unsigned int n_motion() const; |
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/// Return the number of force variables |
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virtual unsigned int n_force() const; |
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virtual const ConstraintBase& computeMotionTask(const double t, |
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ConstRefVector q, |
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ConstRefVector v, Data& data); |
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virtual const ConstraintInequality& computeForceTask(const double t, |
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ConstRefVector q, |
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ConstRefVector v, |
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const Data& data); |
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virtual const Matrix& getForceGeneratorMatrix(); |
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virtual const ConstraintEquality& computeForceRegularizationTask( |
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const double t, ConstRefVector q, ConstRefVector v, const Data& data); |
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const TaskSE3Equality& getMotionTask() const; |
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const ConstraintBase& getMotionConstraint() const; |
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const ConstraintInequality& getForceConstraint() const; |
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const ConstraintEquality& getForceRegularizationTask() const; |
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double getMotionTaskWeight() const; |
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const Matrix3x& getContactPoints() const; |
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double getNormalForce(ConstRefVector f) const; |
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double getMinNormalForce() const; |
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double getMaxNormalForce() const; |
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const Vector& |
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Kp(); // cannot be const because it set a member variable inside |
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const Vector& |
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Kd(); // cannot be const because it set a member variable inside |
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void Kp(ConstRefVector Kp); |
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void Kd(ConstRefVector Kp); |
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bool setContactNormal(ConstRefVector contactNormal); |
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bool setFrictionCoefficient(const double frictionCoefficient); |
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bool setMinNormalForce(const double minNormalForce); |
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bool setMaxNormalForce(const double maxNormalForce); |
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bool setMotionTaskWeight(const double w); |
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void setReference(const SE3& ref); |
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void setForceReference(ConstRefVector& f_ref); |
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void setRegularizationTaskWeightVector(ConstRefVector& w); |
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/** |
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* @brief Specifies if properties of the contact point and motion task |
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* are expressed in the local or local world oriented frame. The contact |
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* forces, contact normal and contact coefficients are interpreted in |
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* the specified frame. |
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* |
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* @param local_frame If true, use the local frame, otherwise use the |
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* local world oriented |
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*/ |
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void useLocalFrame(bool local_frame); |
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protected: |
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void updateForceInequalityConstraints(); |
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void updateForceRegularizationTask(); |
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void updateForceGeneratorMatrix(); |
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TaskSE3Equality m_motionTask; |
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ConstraintInequality m_forceInequality; |
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ConstraintEquality m_forceRegTask; |
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Vector3 m_contactNormal; |
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Vector3 m_fRef; |
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Vector3 m_weightForceRegTask; |
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Matrix3x m_contactPoints; |
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Vector m_Kp3, m_Kd3; // gain vectors to be returned by reference |
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double m_mu; |
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double m_fMin; |
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double m_fMax; |
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double m_regularizationTaskWeight; |
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double m_motionTaskWeight; |
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Matrix m_forceGenMat; |
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}; |
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} // namespace contacts |
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} // namespace tsid |
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#endif // ifndef __invdyn_contact_6d_hpp__ |
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