crocoddyl  1.3.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
multiple-contacts.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_CONTACTS_MULTIPLE_CONTACTS_HPP_
10 #define CROCODDYL_MULTIBODY_CONTACTS_MULTIPLE_CONTACTS_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/contact-base.hpp"
19 
20 namespace crocoddyl {
21 
22 template <typename _Scalar>
24  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
25 
26  typedef _Scalar Scalar;
28 
29  ContactItemTpl() {}
30  ContactItemTpl(const std::string& name, boost::shared_ptr<ContactModelAbstract> contact, bool active = true)
31  : name(name), contact(contact), active(active) {}
32 
33  std::string name;
34  boost::shared_ptr<ContactModelAbstract> contact;
35  bool active;
36 };
37 
38 template <typename _Scalar>
40  public:
41  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
42 
43  typedef _Scalar Scalar;
49 
51 
52  typedef typename MathBase::Vector2s Vector2s;
53  typedef typename MathBase::Vector3s Vector3s;
54  typedef typename MathBase::VectorXs VectorXs;
55  typedef typename MathBase::MatrixXs MatrixXs;
56 
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;
60 
61  ContactModelMultipleTpl(boost::shared_ptr<StateMultibody> state, const std::size_t& nu);
62  ContactModelMultipleTpl(boost::shared_ptr<StateMultibody> state);
64 
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);
68 
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);
71 
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);
78 
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;
87 
88  private:
89  boost::shared_ptr<StateMultibody> state_;
90  ContactModelContainer contacts_;
91  std::size_t nc_;
92  std::size_t nc_total_;
93  std::size_t nu_;
94  std::vector<std::string> active_;
95  std::vector<std::string> inactive_;
96 };
97 
98 template <typename _Scalar>
100  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
101 
102  typedef _Scalar Scalar;
106  typedef typename MathBase::VectorXs VectorXs;
107  typedef typename MathBase::MatrixXs MatrixXs;
108 
109  template <template <typename Scalar> class Model>
110  ContactDataMultipleTpl(Model<Scalar>* const model, pinocchio::DataTpl<Scalar>* const data)
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()) {
117  Jc.setZero();
118  a0.setZero();
119  da0_dx.setZero();
120  dv.setZero();
121  ddv_dx.setZero();
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)));
126  }
127  }
128 
129  MatrixXs Jc;
130  VectorXs a0;
131  MatrixXs da0_dx;
132  VectorXs dv;
133  MatrixXs ddv_dx;
134  typename ContactModelMultiple::ContactDataContainer contacts;
135  pinocchio::container::aligned_vector<pinocchio::ForceTpl<Scalar> > fext;
136 };
137 
138 } // namespace crocoddyl
139 
140 /* --- Details -------------------------------------------------------------- */
141 /* --- Details -------------------------------------------------------------- */
142 /* --- Details -------------------------------------------------------------- */
143 #include "crocoddyl/multibody/contacts/multiple-contacts.hxx"
144 
145 #endif // CROCODDYL_MULTIBODY_CONTACTS_MULTIPLE_CONTACTS_HPP_