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/core/utils/to-string.hpp" 17 #include <pinocchio/multibody/data.hpp> 18 #include <pinocchio/spatial/force.hpp> 22 template <
typename _Scalar>
25 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
27 typedef _Scalar Scalar;
31 typedef typename MathBase::VectorXs VectorXs;
32 typedef typename MathBase::MatrixXs MatrixXs;
38 virtual void calc(
const boost::shared_ptr<ContactDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x) = 0;
39 virtual void calcDiff(
const boost::shared_ptr<ContactDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x) = 0;
41 virtual void updateForce(
const boost::shared_ptr<ContactDataAbstract>& data,
const VectorXs& force) = 0;
42 void updateForceDiff(
const boost::shared_ptr<ContactDataAbstract>& data,
const MatrixXs& df_dx,
43 const MatrixXs& df_du)
const;
44 virtual boost::shared_ptr<ContactDataAbstract> createData(pinocchio::DataTpl<Scalar>*
const data);
46 const boost::shared_ptr<StateMultibody>& get_state()
const;
47 const std::size_t& get_nc()
const;
48 const std::size_t& get_nu()
const;
51 boost::shared_ptr<StateMultibody> state_;
56 template <
typename _Scalar>
58 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
60 typedef _Scalar Scalar;
62 typedef typename MathBase::VectorXs VectorXs;
63 typedef typename MathBase::MatrixXs MatrixXs;
65 template <
template <
typename Scalar>
class Model>
70 jMf(pinocchio::SE3Tpl<Scalar>::Identity()),
71 fXj(jMf.inverse().toActionMatrix()),
72 Jc(model->get_nc(), model->get_state()->get_nv()),
74 da0_dx(model->get_nc(), model->get_state()->get_ndx()),
75 f(pinocchio::ForceTpl<Scalar>::Zero()),
76 df_dx(model->get_nc(), model->get_state()->get_ndx()),
77 df_du(model->get_nc(), model->get_nu()) {
84 virtual ~ContactDataAbstractTpl() {}
86 typename pinocchio::DataTpl<Scalar>* pinocchio;
87 pinocchio::JointIndex joint;
88 pinocchio::FrameIndex frame;
89 typename pinocchio::SE3Tpl<Scalar> jMf;
90 typename pinocchio::SE3Tpl<Scalar>::ActionMatrixType fXj;
94 pinocchio::ForceTpl<Scalar> f;
104 #include "crocoddyl/multibody/contact-base.hxx" 106 #endif // CROCODDYL_MULTIBODY_CONTACT_BASE_HPP_