crocoddyl  1.8.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
contact-base.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_CONTACT_BASE_HPP_
10 #define CROCODDYL_MULTIBODY_CONTACT_BASE_HPP_
11 
12 #include "crocoddyl/multibody/fwd.hpp"
13 #include "crocoddyl/core/mathbase.hpp"
14 #include "crocoddyl/multibody/states/multibody.hpp"
15 #include "crocoddyl/multibody/force-base.hpp"
16 #include "crocoddyl/core/utils/to-string.hpp"
17 
18 namespace crocoddyl {
19 
20 template <typename _Scalar>
22  public:
23  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
24 
25  typedef _Scalar Scalar;
29  typedef typename MathBase::VectorXs VectorXs;
30  typedef typename MathBase::MatrixXs MatrixXs;
31 
32  ContactModelAbstractTpl(boost::shared_ptr<StateMultibody> state, const std::size_t nc, const std::size_t nu);
33  ContactModelAbstractTpl(boost::shared_ptr<StateMultibody> state, const std::size_t nc);
34  virtual ~ContactModelAbstractTpl();
35 
36  virtual void calc(const boost::shared_ptr<ContactDataAbstract>& data, const Eigen::Ref<const VectorXs>& x) = 0;
37  virtual void calcDiff(const boost::shared_ptr<ContactDataAbstract>& data, const Eigen::Ref<const VectorXs>& x) = 0;
38 
39  virtual void updateForce(const boost::shared_ptr<ContactDataAbstract>& data, const VectorXs& force) = 0;
40  void updateForceDiff(const boost::shared_ptr<ContactDataAbstract>& data, const MatrixXs& df_dx,
41  const MatrixXs& df_du) const;
42  void setZeroForce(const boost::shared_ptr<ContactDataAbstract>& data) const;
43  void setZeroForceDiff(const boost::shared_ptr<ContactDataAbstract>& data) const;
44 
45  virtual boost::shared_ptr<ContactDataAbstract> createData(pinocchio::DataTpl<Scalar>* const data);
46 
47  const boost::shared_ptr<StateMultibody>& get_state() const;
48  std::size_t get_nc() const;
49  std::size_t get_nu() const;
50 
54  template <class Scalar>
55  friend std::ostream& operator<<(std::ostream& os, const ContactModelAbstractTpl<Scalar>& model);
56 
62  virtual void print(std::ostream& os) const;
63 
64  protected:
65  boost::shared_ptr<StateMultibody> state_;
66  std::size_t nc_;
67  std::size_t nu_;
68 };
69 
70 template <typename _Scalar>
71 struct ContactDataAbstractTpl : public ForceDataAbstractTpl<_Scalar> {
72  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
73 
74  typedef _Scalar Scalar;
77  typedef typename MathBase::VectorXs VectorXs;
78  typedef typename MathBase::MatrixXs MatrixXs;
79 
80  template <template <typename Scalar> class Model>
81  ContactDataAbstractTpl(Model<Scalar>* const model, pinocchio::DataTpl<Scalar>* const data)
82  : Base(model, data),
83  fXj(jMf.inverse().toActionMatrix()),
84  a0(model->get_nc()),
85  da0_dx(model->get_nc(), model->get_state()->get_ndx()) {
86  a0.setZero();
87  da0_dx.setZero();
88  }
89  virtual ~ContactDataAbstractTpl() {}
90 
91  using Base::df_du;
92  using Base::df_dx;
93  using Base::f;
94  using Base::frame;
95  using Base::Jc;
96  using Base::jMf;
97  using Base::pinocchio;
98  typename pinocchio::SE3Tpl<Scalar>::ActionMatrixType fXj;
99  VectorXs a0;
100  MatrixXs da0_dx;
101 };
102 
103 } // namespace crocoddyl
104 
105 /* --- Details -------------------------------------------------------------- */
106 /* --- Details -------------------------------------------------------------- */
107 /* --- Details -------------------------------------------------------------- */
108 #include "crocoddyl/multibody/contact-base.hxx"
109 
110 #endif // CROCODDYL_MULTIBODY_CONTACT_BASE_HPP_
State multibody representation.
Definition: fwd.hpp:300
virtual void print(std::ostream &os) const
Print relevant information of the contact model.