9 #ifndef CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_WRENCH_CONE_HPP_ 10 #define CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_WRENCH_CONE_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/wrench-cone.hpp" 26 #include "crocoddyl/core/utils/exception.hpp" 49 template <
typename _Scalar>
50 class ResidualModelContactWrenchConeTpl :
public ResidualModelAbstractTpl<_Scalar> {
52 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
54 typedef _Scalar Scalar;
55 typedef MathBaseTpl<Scalar> MathBase;
56 typedef ResidualModelAbstractTpl<Scalar> Base;
57 typedef ResidualDataContactWrenchConeTpl<Scalar> Data;
58 typedef StateMultibodyTpl<Scalar> StateMultibody;
59 typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
60 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
61 typedef WrenchConeTpl<Scalar> WrenchCone;
62 typedef typename MathBase::VectorXs VectorXs;
63 typedef typename MathBase::MatrixXs MatrixXs;
64 typedef typename MathBase::MatrixX6s MatrixX6s;
75 const WrenchCone& fref,
const std::size_t nu);
87 const WrenchCone& fref);
101 virtual void calc(
const boost::shared_ptr<ResidualDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
102 const Eigen::Ref<const VectorXs>& u);
115 virtual void calcDiff(
const boost::shared_ptr<ResidualDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
116 const Eigen::Ref<const VectorXs>& u);
124 virtual boost::shared_ptr<ResidualDataAbstract>
createData(DataCollectorAbstract*
const data);
129 pinocchio::FrameIndex
get_id()
const;
139 void set_id(
const pinocchio::FrameIndex
id);
151 virtual void print(std::ostream& os)
const;
159 pinocchio::FrameIndex id_;
163 template <
typename _Scalar>
164 struct ResidualDataContactWrenchConeTpl :
public ResidualDataAbstractTpl<_Scalar> {
165 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
167 typedef _Scalar Scalar;
168 typedef MathBaseTpl<Scalar> MathBase;
169 typedef ResidualDataAbstractTpl<Scalar> Base;
170 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
171 typedef ContactModelMultipleTpl<Scalar> ContactModelMultiple;
172 typedef ImpulseModelMultipleTpl<Scalar> ImpulseModelMultiple;
173 typedef StateMultibodyTpl<Scalar> StateMultibody;
174 typedef typename MathBase::MatrixXs MatrixXs;
176 template <
template <
typename Scalar>
class Model>
177 ResidualDataContactWrenchConeTpl(Model<Scalar>*
const model, DataCollectorAbstract*
const data) : Base(model, data) {
179 bool is_contact =
true;
180 DataCollectorContactTpl<Scalar>* d1 =
dynamic_cast<DataCollectorContactTpl<Scalar>*
>(shared);
181 DataCollectorImpulseTpl<Scalar>* d2 =
dynamic_cast<DataCollectorImpulseTpl<Scalar>*
>(shared);
182 if (d1 == NULL && d2 == NULL) {
184 "Invalid argument: the shared data should be derived from DataCollectorContact or DataCollectorImpulse");
191 const pinocchio::FrameIndex
id = model->get_id();
192 const boost::shared_ptr<StateMultibody>& state = boost::static_pointer_cast<StateMultibody>(model->get_state());
193 std::string frame_name = state->get_pinocchio()->frames[id].name;
194 bool found_contact =
false;
196 for (
typename ContactModelMultiple::ContactDataContainer::iterator it = d1->contacts->contacts.begin();
197 it != d1->contacts->contacts.end(); ++it) {
198 if (it->second->frame ==
id) {
199 ContactData3DTpl<Scalar>* d3d =
dynamic_cast<ContactData3DTpl<Scalar>*
>(it->second.get());
201 found_contact =
true;
202 contact = it->second;
203 throw_pretty(
"Domain error: there isn't defined at least a 6d contact for " + frame_name);
206 ContactData6DTpl<Scalar>* d6d =
dynamic_cast<ContactData6DTpl<Scalar>*
>(it->second.get());
208 found_contact =
true;
209 contact = it->second;
212 throw_pretty(
"Domain error: there isn't defined at least a 6d contact for " + frame_name);
217 for (
typename ImpulseModelMultiple::ImpulseDataContainer::iterator it = d2->impulses->impulses.begin();
218 it != d2->impulses->impulses.end(); ++it) {
219 if (it->second->frame ==
id) {
220 ImpulseData3DTpl<Scalar>* d3d =
dynamic_cast<ImpulseData3DTpl<Scalar>*
>(it->second.get());
222 found_contact =
true;
223 contact = it->second;
224 throw_pretty(
"Domain error: there isn't defined at least a 6d contact for " + frame_name);
227 ImpulseData6DTpl<Scalar>* d6d =
dynamic_cast<ImpulseData6DTpl<Scalar>*
>(it->second.get());
229 found_contact =
true;
230 contact = it->second;
233 throw_pretty(
"Domain error: there isn't defined at least a 6d contact for " + frame_name);
238 if (!found_contact) {
239 throw_pretty(
"Domain error: there isn't defined contact data for " + frame_name);
243 boost::shared_ptr<ForceDataAbstractTpl<Scalar> >
contact;
255 #include "crocoddyl/multibody/residuals/contact-wrench-cone.hxx" 257 #endif // CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_WRENCH_CONE_HPP_
std::size_t nu_
Control dimension.
boost::shared_ptr< StateAbstract > state_
State description.
VectorXs unone_
No control vector.