9 #ifndef CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_COP_POSITION_HPP_ 10 #define CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_COP_POSITION_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-3d.hpp" 19 #include "crocoddyl/multibody/contacts/contact-6d.hpp" 20 #include "crocoddyl/multibody/impulses/multiple-impulses.hpp" 21 #include "crocoddyl/multibody/impulses/impulse-3d.hpp" 22 #include "crocoddyl/multibody/impulses/impulse-6d.hpp" 23 #include "crocoddyl/multibody/data/contacts.hpp" 24 #include "crocoddyl/multibody/data/impulses.hpp" 25 #include "crocoddyl/multibody/cop-support.hpp" 26 #include "crocoddyl/core/utils/exception.hpp" 62 template <
typename _Scalar>
63 class ResidualModelContactCoPPositionTpl :
public ResidualModelAbstractTpl<_Scalar> {
65 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
67 typedef _Scalar Scalar;
68 typedef MathBaseTpl<Scalar> MathBase;
69 typedef ResidualModelAbstractTpl<Scalar> Base;
70 typedef ResidualDataContactCoPPositionTpl<Scalar> Data;
71 typedef StateMultibodyTpl<Scalar> StateMultibody;
72 typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
73 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
74 typedef CoPSupportTpl<Scalar> CoPSupport;
75 typedef typename MathBase::VectorXs VectorXs;
76 typedef typename MathBase::MatrixXs MatrixXs;
77 typedef typename MathBase::Matrix46s Matrix46;
88 const CoPSupport& cref,
const std::size_t nu);
100 const CoPSupport& cref);
114 virtual void calc(
const boost::shared_ptr<ResidualDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
115 const Eigen::Ref<const VectorXs>& u);
126 virtual void calc(
const boost::shared_ptr<ResidualDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x);
139 virtual void calcDiff(
const boost::shared_ptr<ResidualDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
140 const Eigen::Ref<const VectorXs>& u);
151 virtual void calcDiff(
const boost::shared_ptr<ResidualDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x);
162 virtual boost::shared_ptr<ResidualDataAbstract>
createData(DataCollectorAbstract*
const data);
167 pinocchio::FrameIndex
get_id()
const;
177 void set_id(pinocchio::FrameIndex
id);
189 virtual void print(std::ostream& os)
const;
197 pinocchio::FrameIndex id_;
201 template <
typename _Scalar>
202 struct ResidualDataContactCoPPositionTpl :
public ResidualDataAbstractTpl<_Scalar> {
203 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
205 typedef _Scalar Scalar;
206 typedef MathBaseTpl<Scalar> MathBase;
207 typedef ResidualDataAbstractTpl<Scalar> Base;
208 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
209 typedef FrameCoPSupportTpl<Scalar> FrameCoPSupport;
210 typedef StateMultibodyTpl<Scalar> StateMultibody;
211 typedef typename MathBase::MatrixXs MatrixXs;
213 template <
template <
typename Scalar>
class Model>
214 ResidualDataContactCoPPositionTpl(Model<Scalar>*
const model, DataCollectorAbstract*
const data)
215 : Base(model, data) {
217 bool is_contact =
true;
218 DataCollectorContactTpl<Scalar>* d1 =
dynamic_cast<DataCollectorContactTpl<Scalar>*
>(
shared);
219 DataCollectorImpulseTpl<Scalar>* d2 =
dynamic_cast<DataCollectorImpulseTpl<Scalar>*
>(
shared);
220 if (d1 == NULL && d2 == NULL) {
222 "Invalid argument: the shared data should be derived from DataCollectorContact or DataCollectorImpulse");
229 const pinocchio::FrameIndex
id = model->get_id();
230 const boost::shared_ptr<StateMultibody>& state = boost::static_pointer_cast<StateMultibody>(model->get_state());
231 std::string frame_name = state->get_pinocchio()->frames[id].name;
232 bool found_contact =
false;
234 for (
typename ContactModelMultiple::ContactDataContainer::iterator it = d1->contacts->contacts.begin();
235 it != d1->contacts->contacts.end(); ++it) {
236 if (it->second->frame ==
id) {
237 ContactData3DTpl<Scalar>* d3d =
dynamic_cast<ContactData3DTpl<Scalar>*
>(it->second.get());
239 found_contact =
true;
241 throw_pretty(
"Domain error: there isn't defined at least a 6d contact for " + frame_name);
244 ContactData6DTpl<Scalar>* d6d =
dynamic_cast<ContactData6DTpl<Scalar>*
>(it->second.get());
246 found_contact =
true;
250 throw_pretty(
"Domain error: there isn't defined at least a 6d contact for " + frame_name);
255 for (
typename ImpulseModelMultiple::ImpulseDataContainer::iterator it = d2->impulses->impulses.begin();
256 it != d2->impulses->impulses.end(); ++it) {
257 if (it->second->frame ==
id) {
258 ImpulseData3DTpl<Scalar>* d3d =
dynamic_cast<ImpulseData3DTpl<Scalar>*
>(it->second.get());
260 found_contact =
true;
262 throw_pretty(
"Domain error: there isn't defined at least a 6d contact for " + frame_name);
265 ImpulseData6DTpl<Scalar>* d6d =
dynamic_cast<ImpulseData6DTpl<Scalar>*
>(it->second.get());
267 found_contact =
true;
271 throw_pretty(
"Domain error: there isn't defined at least a 6d contact for " + frame_name);
276 if (!found_contact) {
277 throw_pretty(
"Domain error: there isn't defined contact data for " + frame_name);
282 boost::shared_ptr<ForceDataAbstractTpl<Scalar> >
contact;
294 #include "crocoddyl/multibody/residuals/contact-cop-position.hxx" 296 #endif // CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_COP_POSITION_HPP_
std::size_t nu_
Control dimension.
MatrixXs Rx
Jacobian of the residual vector with respect the state.
MatrixXs Ru
Jacobian of the residual vector with respect the control.
boost::shared_ptr< StateAbstract > state_
State description.
VectorXs unone_
No control vector.
VectorXs r
Residual vector.
DataCollectorAbstract * shared
Shared data allocated by the action model.