9 #ifndef CROCODDYL_MULTIBODY_IMPULSES_MULTIPLE_IMPULSES_HPP_ 10 #define CROCODDYL_MULTIBODY_IMPULSES_MULTIPLE_IMPULSES_HPP_ 16 #include "crocoddyl/multibody/fwd.hpp" 17 #include "crocoddyl/core/utils/exception.hpp" 18 #include "crocoddyl/multibody/impulse-base.hpp" 22 template <
typename _Scalar>
23 struct ImpulseItemTpl {
24 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
26 typedef _Scalar Scalar;
27 typedef ImpulseModelAbstractTpl<Scalar> ImpulseModelAbstract;
30 ImpulseItemTpl(
const std::string& name, boost::shared_ptr<ImpulseModelAbstract> impulse,
const bool active =
true)
31 : name(name), impulse(impulse), active(active) {}
34 boost::shared_ptr<ImpulseModelAbstract> impulse;
45 template <
typename _Scalar>
46 class ImpulseModelMultipleTpl {
48 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
50 typedef _Scalar Scalar;
51 typedef MathBaseTpl<Scalar> MathBase;
52 typedef StateMultibodyTpl<Scalar> StateMultibody;
53 typedef ImpulseDataAbstractTpl<Scalar> ImpulseDataAbstract;
54 typedef ImpulseDataMultipleTpl<Scalar> ImpulseDataMultiple;
55 typedef ImpulseModelAbstractTpl<Scalar> ImpulseModelAbstract;
57 typedef ImpulseItemTpl<Scalar> ImpulseItem;
59 typedef typename MathBase::Vector2s Vector2s;
60 typedef typename MathBase::Vector3s Vector3s;
61 typedef typename MathBase::VectorXs VectorXs;
62 typedef typename MathBase::MatrixXs MatrixXs;
64 typedef std::map<std::string, boost::shared_ptr<ImpulseItem> > ImpulseModelContainer;
65 typedef std::map<std::string, boost::shared_ptr<ImpulseDataAbstract> > ImpulseDataContainer;
66 typedef typename pinocchio::container::aligned_vector<pinocchio::ForceTpl<Scalar> >::iterator ForceIterator;
73 explicit ImpulseModelMultipleTpl(boost::shared_ptr<StateMultibody> state);
74 ~ImpulseModelMultipleTpl();
85 void addImpulse(
const std::string& name, boost::shared_ptr<ImpulseModelAbstract> impulse,
const bool active =
true);
92 void removeImpulse(
const std::string& name);
100 void changeImpulseStatus(
const std::string& name,
const bool active);
108 void calc(
const boost::shared_ptr<ImpulseDataMultiple>& data,
const Eigen::Ref<const VectorXs>& x);
116 void calcDiff(
const boost::shared_ptr<ImpulseDataMultiple>& data,
const Eigen::Ref<const VectorXs>& x);
124 void updateVelocity(
const boost::shared_ptr<ImpulseDataMultiple>& data,
const VectorXs& vnext)
const;
133 void updateForce(
const boost::shared_ptr<ImpulseDataMultiple>& data,
const VectorXs& impulse);
142 void updateVelocityDiff(
const boost::shared_ptr<ImpulseDataMultiple>& data,
const MatrixXs& dvnext_dx)
const;
151 void updateForceDiff(
const boost::shared_ptr<ImpulseDataMultiple>& data,
const MatrixXs& df_dx)
const;
159 boost::shared_ptr<ImpulseDataMultiple> createData(pinocchio::DataTpl<Scalar>*
const data);
164 const boost::shared_ptr<StateMultibody>& get_state()
const;
169 const ImpulseModelContainer& get_impulses()
const;
174 std::size_t get_ni()
const;
179 std::size_t get_ni_total()
const;
184 const std::vector<std::string>& get_active()
const;
189 const std::vector<std::string>& get_inactive()
const;
194 bool getImpulseStatus(
const std::string& name)
const;
197 boost::shared_ptr<StateMultibody> state_;
198 ImpulseModelContainer impulses_;
200 std::size_t ni_total_;
201 std::vector<std::string> active_;
202 std::vector<std::string> inactive_;
210 template <
typename _Scalar>
211 struct ImpulseDataMultipleTpl {
212 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
214 typedef _Scalar Scalar;
215 typedef MathBaseTpl<Scalar> MathBase;
216 typedef ImpulseModelMultipleTpl<Scalar> ImpulseModelMultiple;
217 typedef ImpulseItemTpl<Scalar> ImpulseItem;
218 typedef typename MathBase::VectorXs VectorXs;
219 typedef typename MathBase::MatrixXs MatrixXs;
227 template <
template <
typename Scalar>
class Model>
229 : Jc(model->get_ni_total(), model->get_state()->get_nv()),
230 dv0_dq(model->get_ni_total(), model->get_state()->get_nv()),
231 vnext(model->get_state()->get_nv()),
232 dvnext_dx(model->get_state()->get_nv(), model->get_state()->get_ndx()),
233 fext(model->get_state()->get_pinocchio()->njoints, pinocchio::ForceTpl<Scalar>::Zero()) {
238 for (
typename ImpulseModelMultiple::ImpulseModelContainer::const_iterator it = model->get_impulses().begin();
239 it != model->get_impulses().end(); ++it) {
240 const boost::shared_ptr<ImpulseItem>& item = it->second;
241 impulses.insert(std::make_pair(item->name, item->impulse->createData(data)));
254 typename ImpulseModelMultiple::ImpulseDataContainer impulses;
256 pinocchio::container::aligned_vector<pinocchio::ForceTpl<Scalar> >
265 #include "crocoddyl/multibody/impulses/multiple-impulses.hxx" 267 #endif // CROCODDYL_MULTIBODY_IMPULSES_MULTIPLE_IMPULSES_HPP_
ImpulseDataMultipleTpl(Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data)
Initialized a multi-impulse data.
pinocchio::container::aligned_vector< pinocchio::ForceTpl< Scalar > > fext
External spatial forces in body coordinates.