1 #ifndef __quadruped_walkgen_quadruped_nl_hpp__
2 #define __quadruped_walkgen_quadruped_nl_hpp__
5 #include "crocoddyl/core/action-base.hpp"
6 #include "crocoddyl/core/fwd.hpp"
7 #include "crocoddyl/core/states/euclidean.hpp"
8 #include "crocoddyl/core/utils/timer.hpp"
9 #include "crocoddyl/multibody/friction-cone.hpp"
12 template <
typename _Scalar>
14 :
public crocoddyl::ActionModelAbstractTpl<_Scalar> {
18 typedef crocoddyl::ActionModelAbstractTpl<Scalar>
Base;
19 typedef crocoddyl::MathBaseTpl<Scalar>
MathBase;
22 typename Eigen::Matrix<Scalar, 3, 1> offset_CoM =
23 Eigen::Matrix<Scalar, 3, 1>::Zero());
26 virtual void calc(
const boost::shared_ptr<ActionDataAbstract>& data,
27 const Eigen::Ref<const typename MathBase::VectorXs>& x,
28 const Eigen::Ref<const typename MathBase::VectorXs>& u);
29 virtual void calcDiff(
const boost::shared_ptr<ActionDataAbstract>& data,
30 const Eigen::Ref<const typename MathBase::VectorXs>& x,
31 const Eigen::Ref<const typename MathBase::VectorXs>& u);
32 virtual boost::shared_ptr<ActionDataAbstract>
createData();
53 const typename Eigen::Matrix<Scalar, 3, 3>&
get_gI()
const;
54 void set_gI(
const typename MathBase::Matrix3s& inertia_matrix);
77 void update_model(
const Eigen::Ref<const typename MathBase::MatrixXs>& l_feet,
78 const Eigen::Ref<const typename MathBase::MatrixXs>& xref,
79 const Eigen::Ref<const typename MathBase::MatrixXs>& S);
82 const typename Eigen::Matrix<Scalar, 12, 12>&
get_A()
const;
83 const typename Eigen::Matrix<Scalar, 12, 12>&
get_B()
const;
86 using Base::has_control_limits_;
102 bool relative_forces;
103 bool implicit_integration;
105 typename Eigen::Matrix<Scalar, 12, 1> uref_;
107 typename Eigen::Matrix<Scalar, 12, 1> force_weights_;
108 typename Eigen::Matrix<Scalar, 12, 1> state_weights_;
110 typename Eigen::Matrix<Scalar, 12, 12> A;
111 typename Eigen::Matrix<Scalar, 12, 12> B;
112 typename Eigen::Matrix<Scalar, 12, 1> g;
113 typename Eigen::Matrix<Scalar, 3, 3> I_inv;
114 typename MathBase::Matrix3s R_tmp;
115 typename Eigen::Matrix<Scalar, 3, 3> gI;
117 typename Eigen::Matrix<Scalar, 3, 4> lever_arms;
118 typename MathBase::Vector3s lever_tmp;
119 typename MathBase::MatrixXs xref_;
121 typename Eigen::Matrix<Scalar, 24, 1> ub;
123 typename Eigen::Matrix<Scalar, 24, 1> Fa_x_u;
124 typename Eigen::Matrix<Scalar, 24, 1> rub_max_;
125 typename Eigen::Matrix<Scalar, 24, 24> Arr;
126 typename Eigen::Matrix<Scalar, 6, 1> r;
127 typename Eigen::Matrix<Scalar, 4, 1> gait;
129 typename Eigen::Matrix<Scalar, 3, 1> base_vector_x;
130 typename Eigen::Matrix<Scalar, 3, 1> base_vector_y;
131 typename Eigen::Matrix<Scalar, 3, 1> base_vector_z;
132 typename Eigen::Matrix<Scalar, 3, 1> forces_3d;
135 typename Eigen::Matrix<Scalar, 2, 4> pshoulder_0;
136 typename Eigen::Matrix<Scalar, 3, 4> psh;
137 typename Eigen::Matrix<Scalar, 4, 1> sh_ub_max_;
138 typename Eigen::Matrix<Scalar, 3, 1> offset_com;
143 template <
typename _Scalar>
145 :
public crocoddyl::ActionDataAbstractTpl<_Scalar> {
146 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
150 typedef crocoddyl::ActionDataAbstractTpl<Scalar>
Base;
162 template <
template <
typename Scalar>
class Model>
164 : crocoddyl::ActionDataAbstractTpl<
Scalar>(model) {}
Definition: quadruped_nl.hpp:14
virtual boost::shared_ptr< ActionDataAbstract > createData()
Definition: quadruped_nl.hxx:260
void set_mass(const Scalar &m)
Definition: quadruped_nl.hxx:325
const Scalar & get_friction_weight() const
Definition: quadruped_nl.hxx:301
crocoddyl::ActionModelAbstractTpl< Scalar > Base
Definition: quadruped_nl.hpp:18
void set_mu(const Scalar &mu_coeff)
Definition: quadruped_nl.hxx:316
const Scalar & get_mu() const
Definition: quadruped_nl.hxx:312
void set_relative_forces(const bool &rel_forces)
Definition: quadruped_nl.hxx:433
const Eigen::Matrix< Scalar, 12, 12 > & get_B() const
Definition: quadruped_nl.hxx:421
void set_shoulder_weight(const Scalar &weight)
Definition: quadruped_nl.hxx:405
void set_max_fz_contact(const Scalar &max_fz_)
Definition: quadruped_nl.hxx:378
const Scalar & get_dt() const
Definition: quadruped_nl.hxx:331
const Scalar & get_min_fz_contact() const
Definition: quadruped_nl.hxx:359
const Scalar & get_shoulder_hlim() const
Definition: quadruped_nl.hxx:388
const Eigen::Matrix< Scalar, 12, 1 > & get_force_weights() const
Definition: quadruped_nl.hxx:270
ActionModelQuadrupedNonLinearTpl(typename Eigen::Matrix< Scalar, 3, 1 > offset_CoM=Eigen::Matrix< Scalar, 3, 1 >::Zero())
Definition: quadruped_nl.hxx:8
~ActionModelQuadrupedNonLinearTpl()
Definition: quadruped_nl.hxx:76
void set_implicit_integration(const bool &implicit)
void update_model(const Eigen::Ref< const typename MathBase::MatrixXs > &l_feet, const Eigen::Ref< const typename MathBase::MatrixXs > &xref, const Eigen::Ref< const typename MathBase::MatrixXs > &S)
Definition: quadruped_nl.hxx:451
virtual void calc(const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const typename MathBase::VectorXs > &x, const Eigen::Ref< const typename MathBase::VectorXs > &u)
Definition: quadruped_nl.hxx:79
void set_min_fz_contact(const Scalar &min_fz)
Definition: quadruped_nl.hxx:365
const bool & get_relative_forces() const
Definition: quadruped_nl.hxx:428
void set_friction_weight(const Scalar &weight)
Definition: quadruped_nl.hxx:306
virtual void calcDiff(const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const typename MathBase::VectorXs > &x, const Eigen::Ref< const typename MathBase::VectorXs > &u)
Definition: quadruped_nl.hxx:156
const Eigen::Matrix< Scalar, 3, 3 > & get_gI() const
Definition: quadruped_nl.hxx:344
_Scalar Scalar
Definition: quadruped_nl.hpp:16
const Eigen::Matrix< Scalar, 12, 12 > & get_A() const
Definition: quadruped_nl.hxx:416
void set_gI(const typename MathBase::Matrix3s &inertia_matrix)
Definition: quadruped_nl.hxx:348
void set_force_weights(const typename MathBase::VectorXs &weights)
Definition: quadruped_nl.hxx:274
void set_dt(const Scalar &dt)
Definition: quadruped_nl.hxx:335
crocoddyl::MathBaseTpl< Scalar > MathBase
Definition: quadruped_nl.hpp:19
void set_state_weights(const typename MathBase::VectorXs &weights)
Definition: quadruped_nl.hxx:290
const Scalar & get_max_fz_contact() const
Definition: quadruped_nl.hxx:372
crocoddyl::ActionDataAbstractTpl< Scalar > ActionDataAbstract
Definition: quadruped_nl.hpp:17
void set_shoulder_hlim(const Scalar &hlim)
Definition: quadruped_nl.hxx:393
const bool & get_implicit_integration() const
const Eigen::Matrix< Scalar, 12, 1 > & get_state_weights() const
Definition: quadruped_nl.hxx:286
const Scalar & get_mass() const
Definition: quadruped_nl.hxx:321
const Scalar & get_shoulder_weight() const
Definition: quadruped_nl.hxx:400
Definition: quadruped.hpp:11
ActionModelQuadrupedNonLinearTpl< double > ActionModelQuadrupedNonLinear
Definition: quadruped_nl.hpp:171
ActionDataQuadrupedNonLinearTpl< double > ActionDataQuadrupedNonLinear
Definition: quadruped_nl.hpp:172
Definition: quadruped_nl.hpp:145
ActionDataQuadrupedNonLinearTpl(Model< Scalar > *const model)
Definition: quadruped_nl.hpp:163
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
Definition: quadruped_nl.hpp:148
crocoddyl::ActionDataAbstractTpl< Scalar > Base
Definition: quadruped_nl.hpp:150
crocoddyl::MathBaseTpl< Scalar > MathBase
Definition: quadruped_nl.hpp:149