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// Copyright (c) 2017 CNRS |
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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_base_hpp__ |
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#define __invdyn_contact_base_hpp__ |
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#include "tsid/math/fwd.hpp" |
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#include "tsid/robots/fwd.hpp" |
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#include "tsid/tasks/task-se3-equality.hpp" |
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namespace tsid { |
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namespace contacts { |
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/// |
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/// \brief Base template of a Contact. |
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/// |
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class ContactBase { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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typedef math::ConstraintBase ConstraintBase; |
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typedef math::ConstraintInequality ConstraintInequality; |
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typedef math::ConstraintEquality ConstraintEquality; |
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typedef math::ConstRefVector ConstRefVector; |
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typedef math::Matrix Matrix; |
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typedef math::Matrix3x Matrix3x; |
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typedef tasks::TaskSE3Equality TaskSE3Equality; |
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typedef pinocchio::Data Data; |
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typedef robots::RobotWrapper RobotWrapper; |
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ContactBase(const std::string& name, RobotWrapper& robot); |
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virtual ~ContactBase() {} |
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const std::string& name() const; |
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void name(const std::string& name); |
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/// Return the number of motion constraints |
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virtual unsigned int n_motion() const = 0; |
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/// Return the number of force variables |
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virtual unsigned int n_force() const = 0; |
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virtual const ConstraintBase& computeMotionTask(const double t, |
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ConstRefVector q, |
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ConstRefVector v, |
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Data& data) = 0; |
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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) = 0; |
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virtual const Matrix& getForceGeneratorMatrix() = 0; |
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virtual const ConstraintEquality& computeForceRegularizationTask( |
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const double t, ConstRefVector q, ConstRefVector v, const Data& data) = 0; |
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virtual const TaskSE3Equality& getMotionTask() const = 0; |
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virtual const ConstraintBase& getMotionConstraint() const = 0; |
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virtual const ConstraintInequality& getForceConstraint() const = 0; |
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virtual const ConstraintEquality& getForceRegularizationTask() const = 0; |
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virtual double getMinNormalForce() const = 0; |
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virtual double getMaxNormalForce() const = 0; |
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virtual bool setMinNormalForce(const double minNormalForce) = 0; |
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virtual bool setMaxNormalForce(const double maxNormalForce) = 0; |
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virtual double getNormalForce(ConstRefVector f) const = 0; |
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virtual const Matrix3x& getContactPoints() const = 0; |
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protected: |
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std::string m_name; |
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/// \brief Reference on the robot model. |
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RobotWrapper& m_robot; |
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}; |
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} // namespace contacts |
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} // namespace tsid |
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#endif // ifndef __invdyn_contact_base_hpp__ |