9 #ifndef CROCODDYL_MULTIBODY_CONTACT_BASE_HPP_ 10 #define CROCODDYL_MULTIBODY_CONTACT_BASE_HPP_ 12 #include "crocoddyl/multibody/fwd.hpp" 13 #include "crocoddyl/core/mathbase.hpp" 14 #include "crocoddyl/multibody/states/multibody.hpp" 15 #include "crocoddyl/multibody/force-base.hpp" 19 template <
typename _Scalar>
22 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
24 typedef _Scalar Scalar;
28 typedef typename MathBase::VectorXs VectorXs;
29 typedef typename MathBase::MatrixXs MatrixXs;
35 virtual void calc(
const boost::shared_ptr<ContactDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x) = 0;
36 virtual void calcDiff(
const boost::shared_ptr<ContactDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x) = 0;
38 virtual void updateForce(
const boost::shared_ptr<ContactDataAbstract>& data,
const VectorXs& force) = 0;
39 void updateForceDiff(
const boost::shared_ptr<ContactDataAbstract>& data,
const MatrixXs& df_dx,
40 const MatrixXs& df_du)
const;
41 void setZeroForce(
const boost::shared_ptr<ContactDataAbstract>& data)
const;
42 void setZeroForceDiff(
const boost::shared_ptr<ContactDataAbstract>& data)
const;
44 virtual boost::shared_ptr<ContactDataAbstract> createData(pinocchio::DataTpl<Scalar>*
const data);
46 const boost::shared_ptr<StateMultibody>& get_state()
const;
47 std::size_t get_nc()
const;
48 std::size_t get_nu()
const;
53 pinocchio::FrameIndex
get_id()
const;
58 void set_id(
const pinocchio::FrameIndex
id);
63 template <
class Scalar>
64 friend std::ostream& operator<<(std::ostream& os, const ContactModelAbstractTpl<Scalar>& model);
71 virtual void print(std::ostream& os)
const;
74 boost::shared_ptr<StateMultibody> state_;
77 pinocchio::FrameIndex
id_;
80 template <
typename _Scalar>
82 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
84 typedef _Scalar Scalar;
87 typedef typename MathBase::VectorXs VectorXs;
88 typedef typename MathBase::MatrixXs MatrixXs;
90 template <
template <
typename Scalar>
class Model>
93 fXj(
jMf.inverse().toActionMatrix()),
95 da0_dx(model->get_nc(), model->get_state()->get_ndx()) {
108 typename pinocchio::SE3Tpl<Scalar>::ActionMatrixType fXj;
118 #include "crocoddyl/multibody/contact-base.hxx" 120 #endif // CROCODDYL_MULTIBODY_CONTACT_BASE_HPP_ pinocchio::FrameIndex frame
Frame index of the contact frame.
MatrixXs df_du
Jacobian of the contact forces.
MatrixXs df_dx
Jacobian of the contact forces.
State multibody representation.
pinocchio::SE3Tpl< Scalar > jMf
Local frame placement of the contact frame.
pinocchio::ForceTpl< Scalar > f
MatrixXs Jc
Contact Jacobian.
pinocchio::DataTpl< Scalar > * pinocchio
Pinocchio data.