crocoddyl 1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
 
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contact-1d.hpp
1
2// BSD 3-Clause License
3//
4// Copyright (C) 2020-2021, 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_1D_HPP_
10#define CROCODDYL_MULTIBODY_CONTACTS_CONTACT_1D_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
21#include "crocoddyl/multibody/frames-deprecated.hpp"
22
23namespace crocoddyl {
24
25template <typename _Scalar>
27 public:
28 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
29
30 typedef _Scalar Scalar;
36 typedef typename MathBase::Vector2s Vector2s;
37 typedef typename MathBase::Vector3s Vector3s;
38 typedef typename MathBase::VectorXs VectorXs;
39 typedef typename MathBase::Matrix3s Matrix3s;
40
50 ContactModel1DTpl(boost::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id, const Scalar xref,
51 const std::size_t nu, const Vector2s& gains = Vector2s::Zero());
52
63 ContactModel1DTpl(boost::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id, const Scalar xref,
64 const Vector2s& gains = Vector2s::Zero());
65
66 virtual ~ContactModel1DTpl();
67
75 virtual void calc(const boost::shared_ptr<ContactDataAbstract>& data, const Eigen::Ref<const VectorXs>& x);
76
84 virtual void calcDiff(const boost::shared_ptr<ContactDataAbstract>& data, const Eigen::Ref<const VectorXs>& x);
85
92 virtual void updateForce(const boost::shared_ptr<ContactDataAbstract>& data, const VectorXs& force);
93
97 virtual boost::shared_ptr<ContactDataAbstract> createData(pinocchio::DataTpl<Scalar>* const data);
98
102 const Scalar get_reference() const;
103
107 const Vector2s& get_gains() const;
108
112 void set_reference(const Scalar reference);
113
119 virtual void print(std::ostream& os) const;
120
121 protected:
122 using Base::id_;
123 using Base::nc_;
124 using Base::nu_;
125 using Base::state_;
126
127 private:
128 Scalar xref_;
129 Vector2s gains_;
130};
131
132template <typename _Scalar>
133struct ContactData1DTpl : public ContactDataAbstractTpl<_Scalar> {
134 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
135
136 typedef _Scalar Scalar;
139 typedef typename MathBase::Matrix2s Matrix2s;
140 typedef typename MathBase::Matrix3s Matrix3s;
141 typedef typename MathBase::Matrix6xs Matrix6xs;
142 typedef typename MathBase::Vector3s Vector3s;
143
144 template <template <typename Scalar> class Model>
145 ContactData1DTpl(Model<Scalar>* const model, pinocchio::DataTpl<Scalar>* const data)
146 : Base(model, data),
147 fJf(6, model->get_state()->get_nv()),
148 v_partial_dq(6, model->get_state()->get_nv()),
149 a_partial_dq(6, model->get_state()->get_nv()),
150 a_partial_dv(6, model->get_state()->get_nv()),
151 a_partial_da(6, model->get_state()->get_nv()),
152 fXjdv_dq(6, model->get_state()->get_nv()),
153 fXjda_dq(6, model->get_state()->get_nv()),
154 fXjda_dv(6, model->get_state()->get_nv()) {
155 frame = model->get_id();
156 jMf = model->get_state()->get_pinocchio()->frames[frame].placement;
157 fXj = jMf.inverse().toActionMatrix();
158 fJf.setZero();
159 v_partial_dq.setZero();
160 a_partial_dq.setZero();
161 a_partial_dv.setZero();
162 a_partial_da.setZero();
163 fXjdv_dq.setZero();
164 fXjda_dq.setZero();
165 fXjda_dv.setZero();
166 vv.setZero();
167 vw.setZero();
168 vv_skew.setZero();
169 vw_skew.setZero();
170 oRf.setZero();
171 }
172
173 using Base::a0;
174 using Base::da0_dx;
175 using Base::df_du;
176 using Base::df_dx;
177 using Base::f;
178 using Base::frame;
179 using Base::fXj;
180 using Base::Jc;
181 using Base::jMf;
182 using Base::pinocchio;
183
184 pinocchio::MotionTpl<Scalar> v;
185 pinocchio::MotionTpl<Scalar> a;
186 Matrix6xs fJf;
187 Matrix6xs v_partial_dq;
188 Matrix6xs a_partial_dq;
189 Matrix6xs a_partial_dv;
190 Matrix6xs a_partial_da;
191 Matrix6xs fXjdv_dq;
192 Matrix6xs fXjda_dq;
193 Matrix6xs fXjda_dv;
194 Vector3s vv;
195 Vector3s vw;
196 Matrix3s vv_skew;
197 Matrix3s vw_skew;
198 Matrix2s oRf;
199};
200
201} // namespace crocoddyl
202
203/* --- Details -------------------------------------------------------------- */
204/* --- Details -------------------------------------------------------------- */
205/* --- Details -------------------------------------------------------------- */
206#include "crocoddyl/multibody/contacts/contact-1d.hxx"
207
208#endif // CROCODDYL_MULTIBODY_CONTACTS_CONTACT_1D_HPP_
const Vector2s & get_gains() const
Create the 1d contact data.
ContactModel1DTpl(boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Scalar xref, const std::size_t nu, const Vector2s &gains=Vector2s::Zero())
Initialize the 1d contact model.
virtual void print(std::ostream &os) const
Print relevant information of the 1d contact model.
void set_reference(const Scalar reference)
Modify the reference frame translation.
ContactModel1DTpl(boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Scalar xref, const Vector2s &gains=Vector2s::Zero())
Initialize the 1d contact model.
virtual boost::shared_ptr< ContactDataAbstract > createData(pinocchio::DataTpl< Scalar > *const data)
Create the 1d contact data.
virtual void updateForce(const boost::shared_ptr< ContactDataAbstract > &data, const VectorXs &force)
Convert the force into a stack of spatial forces.
const Scalar get_reference() const
Return the reference frame translation.
virtual void calc(const boost::shared_ptr< ContactDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
Compute the 1d contact Jacobian and drift.
virtual void calcDiff(const boost::shared_ptr< ContactDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
Compute the derivatives of the 1d contact holonomic constraint.
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