contact-force.hpp

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#pragma once
 
#include "./fwd.hpp"
#include "aligator/core/function-abstract.hpp"
 
#include <Eigen/src/Core/util/Constants.h>
#include "aligator/modelling/spaces/multibody.hpp"
#include <pinocchio/algorithm/proximal.hpp>
 
namespace aligator {
 
template <typename Scalar> struct ContactForceDataTpl;

template <typename _Scalar>
struct ContactForceResidualTpl : StageFunctionTpl<_Scalar> {
public:
  using Scalar = _Scalar;
  ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);
  using Base = StageFunctionTpl<Scalar>;
  using BaseData = typename Base::Data;
  using Model = pinocchio::ModelTpl<Scalar>;
  using SE3 = pinocchio::SE3Tpl<Scalar>;
  using Data = ContactForceDataTpl<Scalar>;
  using RigidConstraintModel = pinocchio::RigidConstraintModelTpl<Scalar>;
  using RigidConstraintModelVector =
      PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel);
  using ProxSettings = pinocchio::ProximalSettingsTpl<Scalar>;
  using Vector3or6 = Eigen::Matrix<Scalar, -1, 1, Eigen::ColMajor, 6, 1>;
 
  Model pin_model_;
  MatrixXs actuation_matrix_;
  RigidConstraintModelVector constraint_models_;
  ProxSettings prox_settings_;
  Vector3or6 fref_;
  long force_size_;
  int contact_id_;
 
  ContactForceResidualTpl(const int ndx, const Model &model,
                          const MatrixXs &actuation,
                          const RigidConstraintModelVector &constraint_models,
                          const ProxSettings &prox_settings,
                          const Vector3or6 &fref, std::string_view contact_name)
      : Base(ndx, (int)actuation.cols(), (int)fref.size())
      , pin_model_(model)
      , actuation_matrix_(actuation)
      , constraint_models_(constraint_models)
      , prox_settings_(prox_settings)
      , fref_(fref)
      , force_size_(fref.size()) {
    if (model.nv != actuation.rows()) {
      ALIGATOR_DOMAIN_ERROR("Actuation matrix should have number of rows = "
                            "model.nv ({:d} and {:d}).",
                            actuation.rows(), model.nv);
    }
    contact_id_ = -1;
    for (std::size_t i = 0; i < constraint_models.size(); i++) {
      if (constraint_models[i].name == contact_name) {
        contact_id_ = (int)i;
      }
    }
    if (contact_id_ == -1) {
      ALIGATOR_RUNTIME_ERROR(
          "Contact name is not included in constraint models");
    }
  }
 
  const Vector3or6 &getReference() const { return fref_; }
  void setReference(const Eigen::Ref<const Vector3or6> &fnew) { fref_ = fnew; }
 
  void evaluate(const ConstVectorRef &x, const ConstVectorRef &u,
                BaseData &data) const;
 
  void computeJacobians(const ConstVectorRef &, const ConstVectorRef &,
                        BaseData &data) const;
 
  shared_ptr<BaseData> createData() const {
    return std::make_shared<Data>(this);
  }
};
 
template <typename Scalar>
struct ContactForceDataTpl : StageFunctionDataTpl<Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  using Base = StageFunctionDataTpl<Scalar>;
  using PinData = pinocchio::DataTpl<Scalar>;
  using VectorXs = typename math_types<Scalar>::VectorXs;
  using MatrixXs = typename math_types<Scalar>::MatrixXs;
  using RigidConstraintData = pinocchio::RigidConstraintDataTpl<Scalar>;

  PinData pin_data_;
  VectorXs tau_;
 
  PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintData)
  constraint_datas_;
  pinocchio::ProximalSettingsTpl<Scalar> settings;
 
  ContactForceDataTpl(const ContactForceResidualTpl<Scalar> *model);
};
 
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
extern template struct ContactForceResidualTpl<context::Scalar>;
extern template struct ContactForceDataTpl<context::Scalar>;
#endif
} // namespace aligator