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// |
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// Copyright (c) 2021 University of Trento |
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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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#include "tsid/tasks/task-cop-equality.hpp" |
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using namespace tsid::math; |
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using namespace std; |
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namespace tsid { |
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namespace tasks { |
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TaskCopEquality::TaskCopEquality(const std::string& name, RobotWrapper& robot) |
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: TaskContactForce(name, robot), |
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m_contact_name(""), |
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m_constraint(name, 3, 3) { |
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m_normal << 0, 0, 1; |
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m_ref.setZero(); |
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} |
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void TaskCopEquality::setContactList( |
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const std::vector<std::shared_ptr<ContactLevel> >* contacts) { |
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m_contacts = contacts; |
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} |
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int TaskCopEquality::dim() const { return 3; } |
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const std::string& TaskCopEquality::getAssociatedContactName() { |
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return m_contact_name; |
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} |
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const ConstraintBase& TaskCopEquality::compute( |
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const double t, ConstRefVector q, ConstRefVector v, Data& data, |
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const std::vector<std::shared_ptr<ContactLevel> >* contacts) { |
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setContactList(contacts); |
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return compute(t, q, v, data); |
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} |
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const ConstraintBase& TaskCopEquality::compute(const double, ConstRefVector, |
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ConstRefVector, Data& data) { |
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// count size of force vector |
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int n = 0; |
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for (auto& cl : *m_contacts) { |
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n += cl->contact.n_force(); |
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} |
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// fill constraint matrix |
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SE3 oMi; |
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Vector3 p_local, p_world; |
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auto& M = m_constraint.matrix(); |
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M.resize(3, n); |
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for (auto& cl : *m_contacts) { |
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unsigned int i = cl->index; |
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// get contact points in local frame and transform them to world frame |
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const Matrix3x& P = cl->contact.getContactPoints(); |
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m_robot.framePosition( |
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data, |
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static_cast<const TaskSE3Equality&>(cl->contact.getMotionTask()) |
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.frame_id(), |
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oMi); |
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// cout<<"Contact "<<cl->contact.name()<<endl; |
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// cout<<"oMi\n"<<oMi<<endl; |
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for (int j = 0; j < P.cols(); ++j) { |
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p_local = P.col(j); |
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p_world = oMi.act(p_local); |
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// cout<<j<<" p_local "<<p_local.transpose()<<endl; |
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// cout<<j<<" p_world "<<p_world.transpose()<<endl; |
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M.middleCols(i + 3 * j, 3) = (p_world - m_ref) * (m_normal.transpose()); |
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} |
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} |
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return m_constraint; |
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} |
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const ConstraintBase& TaskCopEquality::getConstraint() const { |
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return m_constraint; |
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} |
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void TaskCopEquality::setReference(const Vector3& ref) { |
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PINOCCHIO_CHECK_INPUT_ARGUMENT(ref.size() == 3, |
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"The size of the reference needs to equal 3"); |
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m_ref = ref; |
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} |
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const Vector3& TaskCopEquality::getReference() const { return m_ref; } |
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void TaskCopEquality::setContactNormal(const Vector3& n) { m_normal = n; } |
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const Vector3& TaskCopEquality::getContactNormal() const { return m_normal; } |
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} // namespace tasks |
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} // namespace tsid |