crocoddyl  1.3.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
contact-base.hpp
1 // BSD 3-Clause License
3 //
4 // Copyright (C) 2018-2020, LAAS-CNRS, University of Edinburgh
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
8 
9 #ifndef CROCODDYL_MULTIBODY_CONTACT_BASE_HPP_
10 #define CROCODDYL_MULTIBODY_CONTACT_BASE_HPP_
11 
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"
16 
17 #include <pinocchio/multibody/data.hpp>
18 #include <pinocchio/spatial/force.hpp>
19 
20 namespace crocoddyl {
21 
22 template <typename _Scalar>
24  public:
25  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
26 
27  typedef _Scalar Scalar;
31  typedef typename MathBase::VectorXs VectorXs;
32  typedef typename MathBase::MatrixXs MatrixXs;
33 
34  ContactModelAbstractTpl(boost::shared_ptr<StateMultibody> state, const std::size_t& nc, const std::size_t& nu);
35  ContactModelAbstractTpl(boost::shared_ptr<StateMultibody> state, const std::size_t& nc);
36  virtual ~ContactModelAbstractTpl();
37 
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;
40 
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);
45 
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;
49 
50  protected:
51  boost::shared_ptr<StateMultibody> state_;
52  std::size_t nc_;
53  std::size_t nu_;
54 };
55 
56 template <typename _Scalar>
58  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
59 
60  typedef _Scalar Scalar;
62  typedef typename MathBase::VectorXs VectorXs;
63  typedef typename MathBase::MatrixXs MatrixXs;
64 
65  template <template <typename Scalar> class Model>
66  ContactDataAbstractTpl(Model<Scalar>* const model, pinocchio::DataTpl<Scalar>* const data)
67  : pinocchio(data),
68  joint(0),
69  frame(0),
70  jMf(pinocchio::SE3Tpl<Scalar>::Identity()),
71  fXj(jMf.inverse().toActionMatrix()),
72  Jc(model->get_nc(), model->get_state()->get_nv()),
73  a0(model->get_nc()),
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()) {
78  Jc.setZero();
79  a0.setZero();
80  da0_dx.setZero();
81  df_dx.setZero();
82  df_du.setZero();
83  }
84  virtual ~ContactDataAbstractTpl() {}
85 
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;
91  MatrixXs Jc;
92  VectorXs a0;
93  MatrixXs da0_dx;
94  pinocchio::ForceTpl<Scalar> f;
95  MatrixXs df_dx;
96  MatrixXs df_du;
97 };
98 
99 } // namespace crocoddyl
100 
101 /* --- Details -------------------------------------------------------------- */
102 /* --- Details -------------------------------------------------------------- */
103 /* --- Details -------------------------------------------------------------- */
104 #include "crocoddyl/multibody/contact-base.hxx"
105 
106 #endif // CROCODDYL_MULTIBODY_CONTACT_BASE_HPP_