9 #ifndef CROCODDYL_MULTIBODY_CONTACTS_MULTIPLE_CONTACTS_HPP_ 10 #define CROCODDYL_MULTIBODY_CONTACTS_MULTIPLE_CONTACTS_HPP_ 16 #include "crocoddyl/multibody/fwd.hpp" 17 #include "crocoddyl/core/utils/exception.hpp" 18 #include "crocoddyl/multibody/contact-base.hpp" 22 template <
typename _Scalar>
24 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
26 typedef _Scalar Scalar;
30 ContactItemTpl(
const std::string& name, boost::shared_ptr<ContactModelAbstract> contact,
bool active =
true)
31 : name(name), contact(contact), active(active) {}
34 boost::shared_ptr<ContactModelAbstract> contact;
38 template <
typename _Scalar>
41 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
43 typedef _Scalar Scalar;
52 typedef typename MathBase::Vector2s Vector2s;
53 typedef typename MathBase::Vector3s Vector3s;
54 typedef typename MathBase::VectorXs VectorXs;
55 typedef typename MathBase::MatrixXs MatrixXs;
57 typedef std::map<std::string, boost::shared_ptr<ContactItem> > ContactModelContainer;
58 typedef std::map<std::string, boost::shared_ptr<ContactDataAbstract> > ContactDataContainer;
59 typedef typename pinocchio::container::aligned_vector<pinocchio::ForceTpl<Scalar> >::iterator ForceIterator;
65 void addContact(
const std::string& name, boost::shared_ptr<ContactModelAbstract> contact,
bool active =
true);
66 void removeContact(
const std::string& name);
67 void changeContactStatus(
const std::string& name,
bool active);
69 void calc(
const boost::shared_ptr<ContactDataMultiple>& data,
const Eigen::Ref<const VectorXs>& x);
70 void calcDiff(
const boost::shared_ptr<ContactDataMultiple>& data,
const Eigen::Ref<const VectorXs>& x);
72 void updateAcceleration(
const boost::shared_ptr<ContactDataMultiple>& data,
const VectorXs& dv)
const;
73 void updateForce(
const boost::shared_ptr<ContactDataMultiple>& data,
const VectorXs& force);
74 void updateAccelerationDiff(
const boost::shared_ptr<ContactDataMultiple>& data,
const MatrixXs& ddv_dx)
const;
75 void updateForceDiff(
const boost::shared_ptr<ContactDataMultiple>& data,
const MatrixXs& df_dx,
76 const MatrixXs& df_du)
const;
77 boost::shared_ptr<ContactDataMultiple> createData(pinocchio::DataTpl<Scalar>*
const data);
79 const boost::shared_ptr<StateMultibody>& get_state()
const;
80 const ContactModelContainer& get_contacts()
const;
81 const std::size_t& get_nc()
const;
82 const std::size_t& get_nc_total()
const;
83 const std::size_t& get_nu()
const;
84 const std::vector<std::string>& get_active()
const;
85 const std::vector<std::string>& get_inactive()
const;
86 bool getContactStatus(
const std::string& name)
const;
89 boost::shared_ptr<StateMultibody> state_;
90 ContactModelContainer contacts_;
92 std::size_t nc_total_;
94 std::vector<std::string> active_;
95 std::vector<std::string> inactive_;
98 template <
typename _Scalar>
100 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
102 typedef _Scalar Scalar;
106 typedef typename MathBase::VectorXs VectorXs;
107 typedef typename MathBase::MatrixXs MatrixXs;
109 template <
template <
typename Scalar>
class Model>
111 : Jc(model->get_nc_total(), model->get_state()->get_nv()),
112 a0(model->get_nc_total()),
113 da0_dx(model->get_nc_total(), model->get_state()->get_ndx()),
114 dv(model->get_state()->get_nv()),
115 ddv_dx(model->get_state()->get_nv(), model->get_state()->get_ndx()),
116 fext(model->get_state()->get_pinocchio()->njoints, pinocchio::ForceTpl<Scalar>::Zero()) {
122 for (
typename ContactModelMultiple::ContactModelContainer::const_iterator it = model->get_contacts().begin();
123 it != model->get_contacts().end(); ++it) {
124 const boost::shared_ptr<ContactItem>& item = it->second;
125 contacts.insert(std::make_pair(item->name, item->contact->createData(data)));
134 typename ContactModelMultiple::ContactDataContainer contacts;
135 pinocchio::container::aligned_vector<pinocchio::ForceTpl<Scalar> > fext;
143 #include "crocoddyl/multibody/contacts/multiple-contacts.hxx" 145 #endif // CROCODDYL_MULTIBODY_CONTACTS_MULTIPLE_CONTACTS_HPP_