crocoddyl 1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
 
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contact-3d.hpp
1
2// BSD 3-Clause License
3//
4// Copyright (C) 2019-2021, LAAS-CNRS, University of Edinburgh
5// Copyright note valid unless otherwise stated in individual files.
6// All rights reserved.
8
9#ifndef CROCODDYL_MULTIBODY_CONTACTS_CONTACT_3D_HPP_
10#define CROCODDYL_MULTIBODY_CONTACTS_CONTACT_3D_HPP_
11
12#include <pinocchio/spatial/motion.hpp>
13#include <pinocchio/multibody/data.hpp>
14#include <pinocchio/algorithm/frames.hpp>
15#include <pinocchio/algorithm/kinematics-derivatives.hpp>
16
17#include "crocoddyl/multibody/fwd.hpp"
18#include "crocoddyl/core/utils/exception.hpp"
19#include "crocoddyl/multibody/contact-base.hpp"
20#include "crocoddyl/core/utils/deprecate.hpp"
21
22#include "crocoddyl/multibody/frames-deprecated.hpp"
23
24namespace crocoddyl {
25
26template <typename _Scalar>
28 public:
29 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
30
31 typedef _Scalar Scalar;
37 typedef typename MathBase::Vector2s Vector2s;
38 typedef typename MathBase::Vector3s Vector3s;
39 typedef typename MathBase::VectorXs VectorXs;
40
50 ContactModel3DTpl(boost::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id, const Vector3s& xref,
51 const std::size_t nu, const Vector2s& gains = Vector2s::Zero());
52
63 ContactModel3DTpl(boost::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id, const Vector3s& xref,
64 const Vector2s& gains = Vector2s::Zero());
65 DEPRECATED("Use constructor which is not based on FrameTranslation.",
66 ContactModel3DTpl(boost::shared_ptr<StateMultibody> state, const FrameTranslationTpl<Scalar>& xref,
67 const std::size_t nu, const Vector2s& gains = Vector2s::Zero());)
68 DEPRECATED("Use constructor which is not based on FrameTranslation.",
69 ContactModel3DTpl(boost::shared_ptr<StateMultibody> state, const FrameTranslationTpl<Scalar>& xref,
70 const Vector2s& gains = Vector2s::Zero());)
71 virtual ~ContactModel3DTpl();
72
80 virtual void calc(const boost::shared_ptr<ContactDataAbstract>& data, const Eigen::Ref<const VectorXs>& x);
81
89 virtual void calcDiff(const boost::shared_ptr<ContactDataAbstract>& data, const Eigen::Ref<const VectorXs>& x);
90
97 virtual void updateForce(const boost::shared_ptr<ContactDataAbstract>& data, const VectorXs& force);
98
102 virtual boost::shared_ptr<ContactDataAbstract> createData(pinocchio::DataTpl<Scalar>* const data);
103
107 const Vector3s& get_reference() const;
108
109 DEPRECATED("Use get_reference() or get_id()", FrameTranslationTpl<Scalar> get_xref() const;)
110
114 const Vector2s& get_gains() const;
115
119 void set_reference(const Vector3s& reference);
120
126 virtual void print(std::ostream& os) const;
127
128 protected:
129 using Base::id_;
130 using Base::nc_;
131 using Base::nu_;
132 using Base::state_;
133
134 private:
135 Vector3s xref_;
136 Vector2s gains_;
137};
138
139template <typename _Scalar>
140struct ContactData3DTpl : public ContactDataAbstractTpl<_Scalar> {
141 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
142
143 typedef _Scalar Scalar;
146 typedef typename MathBase::Matrix3s Matrix3s;
147 typedef typename MathBase::Matrix6xs Matrix6xs;
148 typedef typename MathBase::Vector3s Vector3s;
149
150 template <template <typename Scalar> class Model>
151 ContactData3DTpl(Model<Scalar>* const model, pinocchio::DataTpl<Scalar>* const data)
152 : Base(model, data),
153 fJf(6, model->get_state()->get_nv()),
154 v_partial_dq(6, model->get_state()->get_nv()),
155 a_partial_dq(6, model->get_state()->get_nv()),
156 a_partial_dv(6, model->get_state()->get_nv()),
157 a_partial_da(6, model->get_state()->get_nv()),
158 fXjdv_dq(6, model->get_state()->get_nv()),
159 fXjda_dq(6, model->get_state()->get_nv()),
160 fXjda_dv(6, model->get_state()->get_nv()) {
161 frame = model->get_id();
162 jMf = model->get_state()->get_pinocchio()->frames[frame].placement;
163 fXj = jMf.inverse().toActionMatrix();
164 fJf.setZero();
165 v_partial_dq.setZero();
166 a_partial_dq.setZero();
167 a_partial_dv.setZero();
168 a_partial_da.setZero();
169 fXjdv_dq.setZero();
170 fXjda_dq.setZero();
171 fXjda_dv.setZero();
172 vv.setZero();
173 vw.setZero();
174 vv_skew.setZero();
175 vw_skew.setZero();
176 oRf.setZero();
177 }
178
179 using Base::a0;
180 using Base::da0_dx;
181 using Base::df_du;
182 using Base::df_dx;
183 using Base::f;
184 using Base::frame;
185 using Base::fXj;
186 using Base::Jc;
187 using Base::jMf;
188 using Base::pinocchio;
189
190 pinocchio::MotionTpl<Scalar> v;
191 pinocchio::MotionTpl<Scalar> a;
192 Matrix6xs fJf;
193 Matrix6xs v_partial_dq;
194 Matrix6xs a_partial_dq;
195 Matrix6xs a_partial_dv;
196 Matrix6xs a_partial_da;
197 Matrix6xs fXjdv_dq;
198 Matrix6xs fXjda_dq;
199 Matrix6xs fXjda_dv;
200 Vector3s vv;
201 Vector3s vw;
202 Matrix3s vv_skew;
203 Matrix3s vw_skew;
204 Matrix3s oRf;
205};
206
207} // namespace crocoddyl
208
209/* --- Details -------------------------------------------------------------- */
210/* --- Details -------------------------------------------------------------- */
211/* --- Details -------------------------------------------------------------- */
212#include "crocoddyl/multibody/contacts/contact-3d.hxx"
213
214#endif // CROCODDYL_MULTIBODY_CONTACTS_CONTACT_3D_HPP_
void set_reference(const Vector3s &reference)
Modify the reference frame translation.
const Vector3s & get_reference() const
Return the reference frame translation.
virtual void print(std::ostream &os) const
Print relevant information of the 3d contact model.
ContactModel3DTpl(boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Vector3s &xref, const Vector2s &gains=Vector2s::Zero())
Initialize the 3d contact model.
ContactModel3DTpl(boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Vector3s &xref, const std::size_t nu, const Vector2s &gains=Vector2s::Zero())
Initialize the 3d contact model.
virtual boost::shared_ptr< ContactDataAbstract > createData(pinocchio::DataTpl< Scalar > *const data)
Create the 3d contact data.
virtual void updateForce(const boost::shared_ptr< ContactDataAbstract > &data, const VectorXs &force)
Convert the force into a stack of spatial forces.
virtual void calc(const boost::shared_ptr< ContactDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
Compute the 3d contact Jacobian and drift.
virtual void calcDiff(const boost::shared_ptr< ContactDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
Compute the derivatives of the 3d contact holonomic constraint.
DEPRECATED("Use get_reference() or get_id()", FrameTranslationTpl< Scalar > get_xref() const ;) const Vector2s &get_gains() const
Return the Baumgarte stabilization gains.
pinocchio::FrameIndex id_
Reference frame id of the contact.
State multibody representation.
Definition: multibody.hpp:31
pinocchio::FrameIndex frame
Frame index of the contact frame.
Definition: force-base.hpp:45
pinocchio::SE3Tpl< Scalar > jMf
Local frame placement of the contact frame.
Definition: force-base.hpp:46
pinocchio::FrameIndex frame
Frame index of the contact frame.
Definition: force-base.hpp:45
pinocchio::ForceTpl< Scalar > f
Definition: force-base.hpp:48
MatrixXs df_du
Jacobian of the contact forces.
Definition: force-base.hpp:51
MatrixXs Jc
Contact Jacobian.
Definition: force-base.hpp:47
pinocchio::SE3Tpl< Scalar > jMf
Local frame placement of the contact frame.
Definition: force-base.hpp:46
MatrixXs df_dx
Jacobian of the contact forces.
Definition: force-base.hpp:50
pinocchio::DataTpl< Scalar > * pinocchio
Pinocchio data.
Definition: force-base.hpp:44