multibody-wrench-cone.hpp

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#pragma once
 
#include "./fwd.hpp"
#include "aligator/core/function-abstract.hpp"
 
#include <pinocchio/multibody/model.hpp>
#ifdef ALIGATOR_PINOCCHIO_V3
#include <pinocchio/algorithm/proximal.hpp>
 
namespace aligator {
 
template <typename Scalar> struct MultibodyWrenchConeDataTpl;
 
template <typename _Scalar>
struct MultibodyWrenchConeResidualTpl : 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 = MultibodyWrenchConeDataTpl<Scalar>;
  using RigidConstraintModelVector = PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(
      pinocchio::RigidConstraintModel);
  using RigidConstraintDataVector =
      PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintData);
  using ProxSettings = pinocchio::ProximalSettingsTpl<Scalar>;
 
  Model pin_model_;
  MatrixXs actuation_matrix_;
  RigidConstraintModelVector constraint_models_;
  ProxSettings prox_settings_;
  double mu_;
  double hL_;
  double hW_;
  int contact_id_;
 
  Eigen::Matrix<Scalar, 17, 6> Acone_;
 
  MultibodyWrenchConeResidualTpl(
      const int ndx, const Model &model, const MatrixXs &actuation,
      const RigidConstraintModelVector &constraint_models,
      const ProxSettings &prox_settings, const std::string &contact_name,
      const double mu, const double half_length, const double half_width)
      : Base(ndx, (int)actuation.cols(), 17), pin_model_(model),
        actuation_matrix_(actuation), constraint_models_(constraint_models),
        prox_settings_(prox_settings), mu_(mu), hL_(half_length),
        hW_(half_width) {
    if (model.nv != actuation.rows()) {
      ALIGATOR_DOMAIN_ERROR(
          fmt::format("actuation matrix should have number of rows = pinocchio "
                      "model nv ({} and {}).",
                      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");
    }
    Acone_ << 0, 0, -1, 0, 0, 0, -1, 0, -mu_, 0, 0, 0, 1, 0, -mu_, 0, 0, 0, 0,
        -1, -mu_, 0, 0, 0, 0, 1, -mu_, 0, 0, 0, 0, 0, -hW_, -1, 0, 0, 0, 0,
        -hW_, 1, 0, 0, 0, 0, -hL_, 0, -1, 0, 0, 0, -hL_, 0, 1, 0, -hW_, -hL_,
        -(hL_ + hW_) * mu_, mu_, mu_, -1, -hW_, hL_, -(hL_ + hW_) * mu_, mu_,
        -mu_, -1, hW_, -hL_, -(hL_ + hW_) * mu_, -mu_, mu_, -1, hW_, hL_,
        -(hL_ + hW_) * mu_, -mu_, -mu_, -1, hW_, hL_, -(hL_ + hW_) * mu_, mu_,
        mu_, 1, hW_, -hL_, -(hL_ + hW_) * mu_, mu_, -mu_, 1, -hW_, hL_,
        -(hL_ + hW_) * mu_, -mu_, mu_, 1, -hW_, -hL_, -(hL_ + hW_) * mu_, -mu_,
        -mu_, 1;
  }
 
  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 MultibodyWrenchConeDataTpl : 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 Matrix6Xs = typename math_types<Scalar>::Matrix6Xs;
  using RigidConstraintDataVector =
      PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintData);
 
  PinData pin_data_;
  VectorXs tau_;
  Matrix6Xs temp_;
 
  RigidConstraintDataVector constraint_datas_;
  pinocchio::ProximalSettingsTpl<Scalar> settings;
 
  MultibodyWrenchConeDataTpl(
      const MultibodyWrenchConeResidualTpl<Scalar> *model);
};
 
} // namespace aligator
 
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
#include "aligator/modelling/multibody/multibody-wrench-cone.txx"
#endif
 
#endif // ALIGATOR_PINOCCHIO_V3