crocoddyl  1.8.1
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
multiple-impulses.hpp
1 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2021, LAAS-CNRS, University of Edinburgh
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
8 
9 #ifndef CROCODDYL_MULTIBODY_IMPULSES_MULTIPLE_IMPULSES_HPP_
10 #define CROCODDYL_MULTIBODY_IMPULSES_MULTIPLE_IMPULSES_HPP_
11 
12 #include <string>
13 #include <map>
14 #include <utility>
15 
16 #include "crocoddyl/multibody/fwd.hpp"
17 #include "crocoddyl/core/utils/exception.hpp"
18 #include "crocoddyl/multibody/impulse-base.hpp"
19 
20 namespace crocoddyl {
21 
22 template <typename _Scalar>
23 struct ImpulseItemTpl {
24  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
25 
26  typedef _Scalar Scalar;
27  typedef ImpulseModelAbstractTpl<Scalar> ImpulseModelAbstract;
28 
29  ImpulseItemTpl() {}
30  ImpulseItemTpl(const std::string& name, boost::shared_ptr<ImpulseModelAbstract> impulse, const bool active = true)
31  : name(name), impulse(impulse), active(active) {}
32 
36  friend std::ostream& operator<<(std::ostream& os, const ImpulseItemTpl<Scalar>& model) {
37  os << "{" << *model.impulse << "}";
38  return os;
39  }
40 
41  std::string name;
42  boost::shared_ptr<ImpulseModelAbstract> impulse;
43  bool active;
44 };
45 
53 template <typename _Scalar>
55  public:
56  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
57 
58  typedef _Scalar Scalar;
59  typedef MathBaseTpl<Scalar> MathBase;
64 
66 
67  typedef typename MathBase::Vector2s Vector2s;
68  typedef typename MathBase::Vector3s Vector3s;
69  typedef typename MathBase::VectorXs VectorXs;
70  typedef typename MathBase::MatrixXs MatrixXs;
71 
72  typedef std::map<std::string, boost::shared_ptr<ImpulseItem> > ImpulseModelContainer;
73  typedef std::map<std::string, boost::shared_ptr<ImpulseDataAbstract> > ImpulseDataContainer;
74  typedef typename pinocchio::container::aligned_vector<pinocchio::ForceTpl<Scalar> >::iterator ForceIterator;
75 
81  explicit ImpulseModelMultipleTpl(boost::shared_ptr<StateMultibody> state);
83 
93  void addImpulse(const std::string& name, boost::shared_ptr<ImpulseModelAbstract> impulse, const bool active = true);
94 
100  void removeImpulse(const std::string& name);
101 
108  void changeImpulseStatus(const std::string& name, const bool active);
109 
116  void calc(const boost::shared_ptr<ImpulseDataMultiple>& data, const Eigen::Ref<const VectorXs>& x);
117 
124  void calcDiff(const boost::shared_ptr<ImpulseDataMultiple>& data, const Eigen::Ref<const VectorXs>& x);
125 
132  void updateVelocity(const boost::shared_ptr<ImpulseDataMultiple>& data, const VectorXs& vnext) const;
133 
141  void updateForce(const boost::shared_ptr<ImpulseDataMultiple>& data, const VectorXs& impulse);
142 
150  void updateVelocityDiff(const boost::shared_ptr<ImpulseDataMultiple>& data, const MatrixXs& dvnext_dx) const;
151 
159  void updateForceDiff(const boost::shared_ptr<ImpulseDataMultiple>& data, const MatrixXs& df_dx) const;
160 
167  boost::shared_ptr<ImpulseDataMultiple> createData(pinocchio::DataTpl<Scalar>* const data);
168 
172  const boost::shared_ptr<StateMultibody>& get_state() const;
173 
177  const ImpulseModelContainer& get_impulses() const;
178 
182  std::size_t get_nc() const;
183  DEPRECATED("Use get_nc().", std::size_t get_ni() const;)
184 
188  std::size_t get_nc_total() const;
189  DEPRECATED("Use get_nc_total().", std::size_t get_ni_total() const;)
190 
194  const std::vector<std::string>& get_active() const;
195 
199  const std::vector<std::string>& get_inactive() const;
200 
204  bool getImpulseStatus(const std::string& name) const;
205 
209  template <class Scalar>
210  friend std::ostream& operator<<(std::ostream& os, const ImpulseModelMultipleTpl<Scalar>& model);
211 
212  private:
213  boost::shared_ptr<StateMultibody> state_;
214  ImpulseModelContainer impulses_;
215  std::size_t nc_;
216  std::size_t nc_total_;
217  std::vector<std::string> active_;
218  std::vector<std::string> inactive_;
219 };
220 
226 template <typename _Scalar>
227 struct ImpulseDataMultipleTpl {
228  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
229 
230  typedef _Scalar Scalar;
231  typedef MathBaseTpl<Scalar> MathBase;
234  typedef typename MathBase::VectorXs VectorXs;
235  typedef typename MathBase::MatrixXs MatrixXs;
236 
243  template <template <typename Scalar> class Model>
244  ImpulseDataMultipleTpl(Model<Scalar>* const model, pinocchio::DataTpl<Scalar>* const data)
245  : Jc(model->get_nc_total(), model->get_state()->get_nv()),
246  dv0_dq(model->get_nc_total(), model->get_state()->get_nv()),
247  vnext(model->get_state()->get_nv()),
248  dvnext_dx(model->get_state()->get_nv(), model->get_state()->get_ndx()),
249  fext(model->get_state()->get_pinocchio()->njoints, pinocchio::ForceTpl<Scalar>::Zero()) {
250  Jc.setZero();
251  dv0_dq.setZero();
252  vnext.setZero();
253  dvnext_dx.setZero();
254  for (typename ImpulseModelMultiple::ImpulseModelContainer::const_iterator it = model->get_impulses().begin();
255  it != model->get_impulses().end(); ++it) {
256  const boost::shared_ptr<ImpulseItem>& item = it->second;
257  impulses.insert(std::make_pair(item->name, item->impulse->createData(data)));
258  }
259  }
260 
261  MatrixXs Jc;
262  MatrixXs
265  VectorXs vnext;
268  MatrixXs dvnext_dx;
270  typename ImpulseModelMultiple::ImpulseDataContainer impulses;
272  pinocchio::container::aligned_vector<pinocchio::ForceTpl<Scalar> >
274 };
275 
276 } // namespace crocoddyl
277 
278 /* --- Details -------------------------------------------------------------- */
279 /* --- Details -------------------------------------------------------------- */
280 /* --- Details -------------------------------------------------------------- */
281 #include "crocoddyl/multibody/impulses/multiple-impulses.hxx"
282 
283 #endif // CROCODDYL_MULTIBODY_IMPULSES_MULTIPLE_IMPULSES_HPP_
Define the multi-impulse data.
Definition: fwd.hpp:340
State multibody representation.
Definition: fwd.hpp:300
Define a stack of impulse models.
Definition: fwd.hpp:338
ImpulseDataMultipleTpl(Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data)
Initialized a multi-impulse data.
pinocchio::container::aligned_vector< pinocchio::ForceTpl< Scalar > > fext
External spatial forces in body coordinates.