crocoddyl  1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
contact-cop-position.hpp
1 // BSD 3-Clause License
3 //
4 // Copyright (C) 2020-2021, University of Duisburg-Essen, University of Edinburgh
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
8 
9 #ifndef CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_COP_POSITION_HPP_
10 #define CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_COP_POSITION_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-3d.hpp"
19 #include "crocoddyl/multibody/contacts/contact-6d.hpp"
20 #include "crocoddyl/multibody/impulses/multiple-impulses.hpp"
21 #include "crocoddyl/multibody/impulses/impulse-3d.hpp"
22 #include "crocoddyl/multibody/impulses/impulse-6d.hpp"
23 #include "crocoddyl/multibody/data/contacts.hpp"
24 #include "crocoddyl/multibody/data/impulses.hpp"
25 #include "crocoddyl/multibody/cop-support.hpp"
26 #include "crocoddyl/core/utils/exception.hpp"
27 
28 namespace crocoddyl {
29 
62 template <typename _Scalar>
64  public:
65  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
66 
67  typedef _Scalar Scalar;
75  typedef typename MathBase::VectorXs VectorXs;
76  typedef typename MathBase::MatrixXs MatrixXs;
77  typedef typename MathBase::Matrix46s Matrix46;
78 
87  ResidualModelContactCoPPositionTpl(boost::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id,
88  const CoPSupport& cref, const std::size_t nu);
89 
99  ResidualModelContactCoPPositionTpl(boost::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id,
100  const CoPSupport& cref);
102 
114  virtual void calc(const boost::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
115  const Eigen::Ref<const VectorXs>& u);
116 
126  virtual void calc(const boost::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const VectorXs>& x);
127 
139  virtual void calcDiff(const boost::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
140  const Eigen::Ref<const VectorXs>& u);
141 
151  virtual void calcDiff(const boost::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const VectorXs>& x);
152 
162  virtual boost::shared_ptr<ResidualDataAbstract> createData(DataCollectorAbstract* const data);
163 
167  pinocchio::FrameIndex get_id() const;
168 
172  const CoPSupport& get_reference() const;
173 
177  void set_id(pinocchio::FrameIndex id);
178 
182  void set_reference(const CoPSupport& reference);
183 
189  virtual void print(std::ostream& os) const;
190 
191  protected:
192  using Base::nu_;
193  using Base::state_;
194  using Base::unone_;
195 
196  private:
197  pinocchio::FrameIndex id_;
198  CoPSupport cref_;
199 };
200 
201 template <typename _Scalar>
203  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
204 
205  typedef _Scalar Scalar;
211  typedef typename MathBase::MatrixXs MatrixXs;
212 
213  template <template <typename Scalar> class Model>
214  ResidualDataContactCoPPositionTpl(Model<Scalar>* const model, DataCollectorAbstract* const data)
215  : Base(model, data) {
216  // Check that proper shared data has been passed
217  bool is_contact = true;
220  if (d1 == NULL && d2 == NULL) {
221  throw_pretty(
222  "Invalid argument: the shared data should be derived from DataCollectorContact or DataCollectorImpulse");
223  }
224  if (d2 != NULL) {
225  is_contact = false;
226  }
227 
228  // Avoids data casting at runtime
229  const pinocchio::FrameIndex id = model->get_id();
230  const boost::shared_ptr<StateMultibody>& state = boost::static_pointer_cast<StateMultibody>(model->get_state());
231  std::string frame_name = state->get_pinocchio()->frames[id].name;
232  bool found_contact = false;
233  if (is_contact) {
234  for (typename ContactModelMultiple::ContactDataContainer::iterator it = d1->contacts->contacts.begin();
235  it != d1->contacts->contacts.end(); ++it) {
236  if (it->second->frame == id) {
237  ContactData3DTpl<Scalar>* d3d = dynamic_cast<ContactData3DTpl<Scalar>*>(it->second.get());
238  if (d3d != NULL) {
239  found_contact = true;
240  contact = it->second;
241  throw_pretty("Domain error: there isn't defined at least a 6d contact for " + frame_name);
242  break;
243  }
244  ContactData6DTpl<Scalar>* d6d = dynamic_cast<ContactData6DTpl<Scalar>*>(it->second.get());
245  if (d6d != NULL) {
246  found_contact = true;
247  contact = it->second;
248  break;
249  }
250  throw_pretty("Domain error: there isn't defined at least a 6d contact for " + frame_name);
251  break;
252  }
253  }
254  } else {
255  for (typename ImpulseModelMultiple::ImpulseDataContainer::iterator it = d2->impulses->impulses.begin();
256  it != d2->impulses->impulses.end(); ++it) {
257  if (it->second->frame == id) {
258  ImpulseData3DTpl<Scalar>* d3d = dynamic_cast<ImpulseData3DTpl<Scalar>*>(it->second.get());
259  if (d3d != NULL) {
260  found_contact = true;
261  contact = it->second;
262  throw_pretty("Domain error: there isn't defined at least a 6d contact for " + frame_name);
263  break;
264  }
265  ImpulseData6DTpl<Scalar>* d6d = dynamic_cast<ImpulseData6DTpl<Scalar>*>(it->second.get());
266  if (d6d != NULL) {
267  found_contact = true;
268  contact = it->second;
269  break;
270  }
271  throw_pretty("Domain error: there isn't defined at least a 6d contact for " + frame_name);
272  break;
273  }
274  }
275  }
276  if (!found_contact) {
277  throw_pretty("Domain error: there isn't defined contact data for " + frame_name);
278  }
279  }
280 
281  pinocchio::DataTpl<Scalar>* pinocchio;
282  boost::shared_ptr<ForceDataAbstractTpl<Scalar> > contact;
283  using Base::r;
284  using Base::Ru;
285  using Base::Rx;
286  using Base::shared;
287 };
288 
289 } // namespace crocoddyl
290 
291 /* --- Details -------------------------------------------------------------- */
292 /* --- Details -------------------------------------------------------------- */
293 /* --- Details -------------------------------------------------------------- */
294 #include "crocoddyl/multibody/residuals/contact-cop-position.hxx"
295 
296 #endif // CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_COP_POSITION_HPP_
Abstract class for residual models.
boost::shared_ptr< StateAbstract > state_
State description.
std::size_t nu_
Control dimension.
VectorXs unone_
No control vector.
Center of pressure residual function.
void set_reference(const CoPSupport &reference)
Modify the reference support region of CoP.
virtual void calc(const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
Compute the residual vector for nodes that depends only on the state.
void set_id(pinocchio::FrameIndex id)
Modify the reference frame id.
virtual void calcDiff(const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
Compute the Jacobian of the residual functions with respect to the state only.
virtual void print(std::ostream &os) const
Print relevant information of the cop-position 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 CoP residual.
pinocchio::FrameIndex get_id() const
Return the reference frame id.
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 CoP residual.
ResidualModelContactCoPPositionTpl(boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const CoPSupport &cref, const std::size_t nu)
Initialize the contact CoP residual model.
virtual boost::shared_ptr< ResidualDataAbstract > createData(DataCollectorAbstract *const data)
Create the contact CoP residual data.
ResidualModelContactCoPPositionTpl(boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const CoPSupport &cref)
Initialize the contact CoP residual model.
const CoPSupport & get_reference() const
Return the reference support region of CoP.
State multibody representation.
Definition: multibody.hpp:31
MatrixXs Ru
Jacobian of the residual vector with respect the control.
MatrixXs Rx
Jacobian of the residual vector with respect the state.
DataCollectorAbstract * shared
Shared data allocated by the action model.
boost::shared_ptr< ForceDataAbstractTpl< Scalar > > contact
Contact force.
DataCollectorAbstract * shared
Shared data allocated by the action model.
pinocchio::DataTpl< Scalar > * pinocchio
Pinocchio data.