9#ifndef CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_FRICTION_CONE_HPP_
10#define CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_FRICTION_CONE_HPP_
12#include "crocoddyl/multibody/fwd.hpp"
13#include "crocoddyl/core/residual-base.hpp"
14#include "crocoddyl/multibody/states/multibody.hpp"
15#include "crocoddyl/multibody/contact-base.hpp"
16#include "crocoddyl/multibody/impulse-base.hpp"
17#include "crocoddyl/multibody/contacts/multiple-contacts.hpp"
18#include "crocoddyl/multibody/contacts/contact-2d.hpp"
19#include "crocoddyl/multibody/contacts/contact-3d.hpp"
20#include "crocoddyl/multibody/contacts/contact-6d.hpp"
21#include "crocoddyl/multibody/impulses/multiple-impulses.hpp"
22#include "crocoddyl/multibody/impulses/impulse-3d.hpp"
23#include "crocoddyl/multibody/impulses/impulse-6d.hpp"
24#include "crocoddyl/multibody/data/contacts.hpp"
25#include "crocoddyl/multibody/data/impulses.hpp"
26#include "crocoddyl/multibody/friction-cone.hpp"
27#include "crocoddyl/core/utils/exception.hpp"
53template <
typename _Scalar>
56 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
58 typedef _Scalar Scalar;
66 typedef typename MathBase::VectorXs VectorXs;
67 typedef typename MathBase::MatrixXs MatrixXs;
68 typedef typename MathBase::MatrixX3s MatrixX3s;
101 virtual void calc(
const boost::shared_ptr<ResidualDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
102 const Eigen::Ref<const VectorXs>& u);
113 virtual void calc(
const boost::shared_ptr<ResidualDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x);
122 virtual void calcDiff(
const boost::shared_ptr<ResidualDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
123 const Eigen::Ref<const VectorXs>& u);
134 virtual void calcDiff(
const boost::shared_ptr<ResidualDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x);
154 void set_id(
const pinocchio::FrameIndex
id);
166 virtual void print(std::ostream& os)
const;
174 pinocchio::FrameIndex id_;
178template <
typename _Scalar>
180 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
182 typedef _Scalar Scalar;
189 typedef typename MathBase::MatrixXs MatrixXs;
191 template <
template <
typename Scalar>
class Model>
193 :
Base(model, data) {
196 bool is_contact =
true;
199 if (d1 == NULL && d2 == NULL) {
201 "Invalid argument: the shared data should be derived from DataCollectorContact or DataCollectorImpulse");
208 const pinocchio::FrameIndex
id = model->get_id();
209 const boost::shared_ptr<StateMultibody>& state = boost::static_pointer_cast<StateMultibody>(model->get_state());
210 std::string frame_name = state->get_pinocchio()->frames[id].name;
211 bool found_contact =
false;
213 for (
typename ContactModelMultiple::ContactDataContainer::iterator it = d1->contacts->contacts.begin();
214 it != d1->contacts->contacts.end(); ++it) {
215 if (it->second->frame ==
id) {
219 found_contact =
true;
226 found_contact =
true;
233 found_contact =
true;
237 throw_pretty(
"Domain error: there isn't defined at least a 2d contact for " + frame_name);
242 for (
typename ImpulseModelMultiple::ImpulseDataContainer::iterator it = d2->impulses->impulses.begin();
243 it != d2->impulses->impulses.end(); ++it) {
244 if (it->second->frame ==
id) {
248 found_contact =
true;
255 found_contact =
true;
259 throw_pretty(
"Domain error: there isn't defined at least a 3d contact for " + frame_name);
264 if (!found_contact) {
265 throw_pretty(
"Domain error: there isn't defined contact data for " + frame_name);
269 boost::shared_ptr<ForceDataAbstractTpl<Scalar> >
contact;
282#include "crocoddyl/multibody/residuals/contact-friction-cone.hxx"
This class encapsulates a friction cone.
Define a stack of impulse models.
Abstract class for residual models.
boost::shared_ptr< StateAbstract > state_
State description.
std::size_t nu_
Control dimension.
VectorXs unone_
No control vector.
State multibody representation.
MatrixXs Ru
Jacobian of the residual vector with respect the control.
MatrixXs Rx
Jacobian of the residual vector with respect the state.
DataCollectorAbstract * shared
Shared data allocated by the action model.
VectorXs r
Residual vector.