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 void setZeroForce(
const boost::shared_ptr<ContactDataAbstract>& data)
const;
45 void setZeroForceDiff(
const boost::shared_ptr<ContactDataAbstract>& data)
const;
47 virtual boost::shared_ptr<ContactDataAbstract> createData(pinocchio::DataTpl<Scalar>*
const data);
49 const boost::shared_ptr<StateMultibody>& get_state()
const;
50 std::size_t get_nc()
const;
51 std::size_t get_nu()
const;
54 boost::shared_ptr<StateMultibody> state_;
59 template <
typename _Scalar>
61 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
63 typedef _Scalar Scalar;
65 typedef typename MathBase::VectorXs VectorXs;
66 typedef typename MathBase::MatrixXs MatrixXs;
68 template <
template <
typename Scalar>
class Model>
73 jMf(pinocchio::SE3Tpl<Scalar>::Identity()),
74 fXj(jMf.inverse().toActionMatrix()),
75 Jc(model->get_nc(), model->get_state()->get_nv()),
77 da0_dx(model->get_nc(), model->get_state()->get_ndx()),
78 f(pinocchio::ForceTpl<Scalar>::Zero()),
79 df_dx(model->get_nc(), model->get_state()->get_ndx()),
80 df_du(model->get_nc(), model->get_nu()) {
87 virtual ~ContactDataAbstractTpl() {}
89 typename pinocchio::DataTpl<Scalar>* pinocchio;
90 pinocchio::JointIndex joint;
91 pinocchio::FrameIndex frame;
92 typename pinocchio::SE3Tpl<Scalar> jMf;
93 typename pinocchio::SE3Tpl<Scalar>::ActionMatrixType fXj;
97 pinocchio::ForceTpl<Scalar> f;
107 #include "crocoddyl/multibody/contact-base.hxx" 109 #endif // CROCODDYL_MULTIBODY_CONTACT_BASE_HPP_
State multibody representation.