contact-two-frame-positions.hpp

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//
// Copyright (c) 2023 MIPT
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//
 
#ifndef __invdyn_contact_two_frame_positions_hpp__
#define __invdyn_contact_two_frame_positions_hpp__
 
#include "tsid/contacts/contact-base.hpp"
#include "tsid/tasks/task-se3-equality.hpp"
#include "tsid/tasks/task-two-frames-equality.hpp"
#include "tsid/math/constraint-inequality.hpp"
#include "tsid/math/constraint-equality.hpp"
 
namespace tsid {
namespace contacts {
class ContactTwoFramePositions : public ContactBase {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef math::ConstRefMatrix ConstRefMatrix;
  typedef math::ConstRefVector ConstRefVector;
  typedef math::Matrix3x Matrix3x;
  typedef math::Vector6 Vector6;
  typedef math::Vector3 Vector3;
  typedef math::Vector Vector;
  typedef tasks::TaskTwoFramesEquality TaskTwoFramesEquality;
  typedef tasks::TaskSE3Equality TaskSE3Equality;
  typedef math::ConstraintInequality ConstraintInequality;
  typedef math::ConstraintEquality ConstraintEquality;
  typedef pinocchio::SE3 SE3;
 
  ContactTwoFramePositions(const std::string& name, RobotWrapper& robot,
                           const std::string& frameName1,
                           const std::string& frameName2,
                           const double minNormalForce,
                           const double maxNormalForce);
 
  unsigned int n_motion() const override;
 
  unsigned int n_force() const override;
 
  const ConstraintBase& computeMotionTask(double t, ConstRefVector q,
                                          ConstRefVector v,
                                          Data& data) override;
 
  const ConstraintInequality& computeForceTask(double t, ConstRefVector q,
                                               ConstRefVector v,
                                               const Data& data) override;
 
  const Matrix& getForceGeneratorMatrix() override;
 
  const ConstraintEquality& computeForceRegularizationTask(
      double t, ConstRefVector q, ConstRefVector v, const Data& data) override;
 
  const TaskTwoFramesEquality& getMotionTask() const override;
  const ConstraintBase& getMotionConstraint() const override;
  const ConstraintInequality& getForceConstraint() const override;
  const ConstraintEquality& getForceRegularizationTask() const override;
  double getMotionTaskWeight() const;
  const Matrix3x& getContactPoints() const override;
 
  double getNormalForce(ConstRefVector f) const override;
  double getMinNormalForce() const override;
  double getMaxNormalForce() const override;
 
  const Vector&
  Kp();  // cannot be const because it set a member variable inside
  const Vector&
  Kd();  // cannot be const because it set a member variable inside
  void Kp(ConstRefVector Kp);
  void Kd(ConstRefVector Kp);
 
  bool setContactNormal(ConstRefVector contactNormal);
 
  bool setFrictionCoefficient(const double frictionCoefficient);
  bool setMinNormalForce(const double minNormalForce) override;
  bool setMaxNormalForce(const double maxNormalForce) override;
  bool setMotionTaskWeight(const double w);
  void setForceReference(ConstRefVector& f_ref);
  void setRegularizationTaskWeightVector(ConstRefVector& w);
 
 protected:
  void updateForceInequalityConstraints();
  void updateForceRegularizationTask();
  void updateForceGeneratorMatrix();
 
  TaskTwoFramesEquality m_motionTask;
  ConstraintInequality m_forceInequality;
  ConstraintEquality m_forceRegTask;
  Vector3 m_fRef;
  Vector3 m_weightForceRegTask;
  Matrix3x m_contactPoints;
  Vector m_Kp3, m_Kd3;  // gain vectors to be returned by reference
  double m_fMin;
  double m_fMax;
  double m_regularizationTaskWeight;
  double m_motionTaskWeight;
  Matrix m_forceGenMat;
};
}  // namespace contacts
}  // namespace tsid
 
#endif  // ifndef __invdyn_contact_two_frame_positions_hpp__