crocoddyl  1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
contact-friction-cone.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_RESIDUALS_CONTACT_FRICTION_CONE_HPP_
10 #define CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_FRICTION_CONE_HPP_
11 
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-2d.hpp"
19 #include "crocoddyl/multibody/contacts/contact-3d.hpp"
20 #include "crocoddyl/multibody/contacts/contact-6d.hpp"
21 #include "crocoddyl/multibody/impulses/multiple-impulses.hpp"
22 #include "crocoddyl/multibody/impulses/impulse-3d.hpp"
23 #include "crocoddyl/multibody/impulses/impulse-6d.hpp"
24 #include "crocoddyl/multibody/data/contacts.hpp"
25 #include "crocoddyl/multibody/data/impulses.hpp"
26 #include "crocoddyl/multibody/friction-cone.hpp"
27 #include "crocoddyl/core/utils/exception.hpp"
28 
29 namespace crocoddyl {
30 
53 template <typename _Scalar>
54 class ResidualModelContactFrictionConeTpl : public ResidualModelAbstractTpl<_Scalar> {
55  public:
56  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
57 
58  typedef _Scalar Scalar;
59  typedef MathBaseTpl<Scalar> MathBase;
60  typedef ResidualModelAbstractTpl<Scalar> Base;
61  typedef ResidualDataContactFrictionConeTpl<Scalar> Data;
62  typedef StateMultibodyTpl<Scalar> StateMultibody;
63  typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
64  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
65  typedef FrictionConeTpl<Scalar> FrictionCone;
66  typedef typename MathBase::VectorXs VectorXs;
67  typedef typename MathBase::MatrixXs MatrixXs;
68  typedef typename MathBase::MatrixX3s MatrixX3s;
69 
78  ResidualModelContactFrictionConeTpl(boost::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id,
79  const FrictionCone& fref, const std::size_t nu);
80 
90  ResidualModelContactFrictionConeTpl(boost::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id,
91  const FrictionCone& fref);
93 
101  virtual void calc(const boost::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
102  const Eigen::Ref<const VectorXs>& u);
103 
113  virtual void calc(const boost::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const VectorXs>& x);
114 
122  virtual void calcDiff(const boost::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
123  const Eigen::Ref<const VectorXs>& u);
124 
134  virtual void calcDiff(const boost::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const VectorXs>& x);
135 
139  virtual boost::shared_ptr<ResidualDataAbstract> createData(DataCollectorAbstract* const data);
140 
144  pinocchio::FrameIndex get_id() const;
145 
149  const FrictionCone& get_reference() const;
150 
154  void set_id(const pinocchio::FrameIndex id);
155 
159  void set_reference(const FrictionCone& reference);
160 
166  virtual void print(std::ostream& os) const;
167 
168  protected:
169  using Base::nu_;
170  using Base::state_;
171  using Base::unone_;
172 
173  private:
174  pinocchio::FrameIndex id_;
175  FrictionCone fref_;
176 };
177 
178 template <typename _Scalar>
179 struct ResidualDataContactFrictionConeTpl : public ResidualDataAbstractTpl<_Scalar> {
180  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
181 
182  typedef _Scalar Scalar;
183  typedef MathBaseTpl<Scalar> MathBase;
184  typedef ResidualDataAbstractTpl<Scalar> Base;
185  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
186  typedef ContactModelMultipleTpl<Scalar> ContactModelMultiple;
187  typedef ImpulseModelMultipleTpl<Scalar> ImpulseModelMultiple;
188  typedef StateMultibodyTpl<Scalar> StateMultibody;
189  typedef typename MathBase::MatrixXs MatrixXs;
190 
191  template <template <typename Scalar> class Model>
192  ResidualDataContactFrictionConeTpl(Model<Scalar>* const model, DataCollectorAbstract* const data)
193  : Base(model, data) {
194  contact_type = ContactUndefined;
195  // Check that proper shared data has been passed
196  bool is_contact = true;
197  DataCollectorContactTpl<Scalar>* d1 = dynamic_cast<DataCollectorContactTpl<Scalar>*>(shared);
198  DataCollectorImpulseTpl<Scalar>* d2 = dynamic_cast<DataCollectorImpulseTpl<Scalar>*>(shared);
199  if (d1 == NULL && d2 == NULL) {
200  throw_pretty(
201  "Invalid argument: the shared data should be derived from DataCollectorContact or DataCollectorImpulse");
202  }
203  if (d2 != NULL) {
204  is_contact = false;
205  }
206 
207  // Avoids data casting at runtime
208  const pinocchio::FrameIndex id = model->get_id();
209  const boost::shared_ptr<StateMultibody>& state = boost::static_pointer_cast<StateMultibody>(model->get_state());
210  std::string frame_name = state->get_pinocchio()->frames[id].name;
211  bool found_contact = false;
212  if (is_contact) {
213  for (typename ContactModelMultiple::ContactDataContainer::iterator it = d1->contacts->contacts.begin();
214  it != d1->contacts->contacts.end(); ++it) {
215  if (it->second->frame == id) {
216  ContactData2DTpl<Scalar>* d2d = dynamic_cast<ContactData2DTpl<Scalar>*>(it->second.get());
217  if (d2d != NULL) {
218  contact_type = Contact2D;
219  found_contact = true;
220  contact = it->second;
221  break;
222  }
223  ContactData3DTpl<Scalar>* d3d = dynamic_cast<ContactData3DTpl<Scalar>*>(it->second.get());
224  if (d3d != NULL) {
225  contact_type = Contact3D;
226  found_contact = true;
227  contact = it->second;
228  break;
229  }
230  ContactData6DTpl<Scalar>* d6d = dynamic_cast<ContactData6DTpl<Scalar>*>(it->second.get());
231  if (d6d != NULL) {
232  contact_type = Contact6D;
233  found_contact = true;
234  contact = it->second;
235  break;
236  }
237  throw_pretty("Domain error: there isn't defined at least a 2d contact for " + frame_name);
238  break;
239  }
240  }
241  } else {
242  for (typename ImpulseModelMultiple::ImpulseDataContainer::iterator it = d2->impulses->impulses.begin();
243  it != d2->impulses->impulses.end(); ++it) {
244  if (it->second->frame == id) {
245  ImpulseData3DTpl<Scalar>* d3d = dynamic_cast<ImpulseData3DTpl<Scalar>*>(it->second.get());
246  if (d3d != NULL) {
247  contact_type = Contact3D;
248  found_contact = true;
249  contact = it->second;
250  break;
251  }
252  ImpulseData6DTpl<Scalar>* d6d = dynamic_cast<ImpulseData6DTpl<Scalar>*>(it->second.get());
253  if (d6d != NULL) {
254  contact_type = Contact6D;
255  found_contact = true;
256  contact = it->second;
257  break;
258  }
259  throw_pretty("Domain error: there isn't defined at least a 3d contact for " + frame_name);
260  break;
261  }
262  }
263  }
264  if (!found_contact) {
265  throw_pretty("Domain error: there isn't defined contact data for " + frame_name);
266  }
267  }
268 
269  boost::shared_ptr<ForceDataAbstractTpl<Scalar> > contact;
270  ContactType contact_type;
271  using Base::r;
272  using Base::Ru;
273  using Base::Rx;
274  using Base::shared;
275 };
276 
277 } // namespace crocoddyl
278 
279 /* --- Details -------------------------------------------------------------- */
280 /* --- Details -------------------------------------------------------------- */
281 /* --- Details -------------------------------------------------------------- */
282 #include "crocoddyl/multibody/residuals/contact-friction-cone.hxx"
283 
284 #endif // CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_FRICTION_CONE_HPP_
const FrictionCone & get_reference() const
Return the reference contact friction cone.
virtual void calcDiff(const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the Jacobians of the contact friction cone residual.
ContactType contact_type
Type of contact (2D / 3D / 6D)
boost::shared_ptr< ForceDataAbstractTpl< Scalar > > contact
Contact force data.
pinocchio::FrameIndex get_id() const
Return the reference frame id.
std::size_t nu_
Control dimension.
void set_reference(const FrictionCone &reference)
Modify the reference contact friction cone.
ResidualModelContactFrictionConeTpl(boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const FrictionCone &fref, const std::size_t nu)
Initialize the contact friction cone residual model.
boost::shared_ptr< StateAbstract > state_
State description.
void set_id(const pinocchio::FrameIndex id)
Modify the reference frame id.
VectorXs unone_
No control vector.
virtual boost::shared_ptr< ResidualDataAbstract > createData(DataCollectorAbstract *const data)
Create the contact friction cone residual data.
virtual void print(std::ostream &os) const
Print relevant information of the contact-friction-cone residual.
virtual void calc(const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the contact friction cone residual.