contact-dynamics.hpp

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//
// Copyright (c) 2016-2021 CNRS INRIA
//

#ifndef __pinocchio_contact_dynamics_hpp__
#define __pinocchio_contact_dynamics_hpp__

#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"

namespace pinocchio
{


  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2,
  typename ConstraintMatrixType, typename DriftVectorType>
  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::TangentVectorType &
  forwardDynamics(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                  DataTpl<Scalar,Options,JointCollectionTpl> & data,
                  const Eigen::MatrixBase<ConfigVectorType> & q,
                  const Eigen::MatrixBase<TangentVectorType1> & v,
                  const Eigen::MatrixBase<TangentVectorType2> & tau,
                  const Eigen::MatrixBase<ConstraintMatrixType> & J,
                  const Eigen::MatrixBase<DriftVectorType> & gamma,
                  const Scalar inv_damping = 0.);


  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename TangentVectorType,
  typename ConstraintMatrixType, typename DriftVectorType>
  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::TangentVectorType &
  forwardDynamics(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                  DataTpl<Scalar,Options,JointCollectionTpl> & data,
                  const Eigen::MatrixBase<TangentVectorType> & tau,
                  const Eigen::MatrixBase<ConstraintMatrixType> & J,
                  const Eigen::MatrixBase<DriftVectorType> & gamma,
                  const Scalar inv_damping = 0.);

  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2,
  typename ConstraintMatrixType, typename DriftVectorType>
  PINOCCHIO_DEPRECATED
  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::TangentVectorType &
  forwardDynamics(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                  DataTpl<Scalar,Options,JointCollectionTpl> & data,
                  const Eigen::MatrixBase<ConfigVectorType> & q,
                  const Eigen::MatrixBase<TangentVectorType1> & v,
                  const Eigen::MatrixBase<TangentVectorType2> & tau,
                  const Eigen::MatrixBase<ConstraintMatrixType> & J,
                  const Eigen::MatrixBase<DriftVectorType> & gamma,
                  const Scalar inv_damping,
                  const bool updateKinematics)
  {
    if(updateKinematics)
      return forwardDynamics(model,data,q,v,tau,J,gamma,inv_damping);
    else
      return forwardDynamics(model,data,tau,J,gamma,inv_damping);
  }

  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl,
           typename ConfigVectorType, typename ConstraintMatrixType, typename KKTMatrixType>
  void computeKKTContactDynamicMatrixInverse(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                                             DataTpl<Scalar,Options,JointCollectionTpl> & data,
                                             const Eigen::MatrixBase<ConfigVectorType> & q,
                                             const Eigen::MatrixBase<ConstraintMatrixType> & J,
                                             const Eigen::MatrixBase<KKTMatrixType> & KKTMatrix_inv,
                                             const Scalar & inv_damping = 0.);

  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl,
           typename ConstraintMatrixType, typename KKTMatrixType>
  inline void getKKTContactDynamicMatrixInverse(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                                                const DataTpl<Scalar,Options,JointCollectionTpl> & data,
                                                const Eigen::MatrixBase<ConstraintMatrixType> & J,
                                                const Eigen::MatrixBase<KKTMatrixType> & KKTMatrix_inv);
  
  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType, typename ConstraintMatrixType>
  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::TangentVectorType &
  impulseDynamics(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                  DataTpl<Scalar,Options,JointCollectionTpl> & data,
                  const Eigen::MatrixBase<ConfigVectorType> & q,
                  const Eigen::MatrixBase<TangentVectorType> & v_before,
                  const Eigen::MatrixBase<ConstraintMatrixType> & J,
                  const Scalar r_coeff = 0.,
                  const Scalar inv_damping = 0.);

  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType, typename ConstraintMatrixType>
  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::TangentVectorType &
  impulseDynamics(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                  DataTpl<Scalar,Options,JointCollectionTpl> & data,
                  const Eigen::MatrixBase<TangentVectorType> & v_before,
                  const Eigen::MatrixBase<ConstraintMatrixType> & J,
                  const Scalar r_coeff = 0.,
                  const Scalar inv_damping = 0.);
  
  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType, typename ConstraintMatrixType>
  PINOCCHIO_DEPRECATED
  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::TangentVectorType &
  impulseDynamics(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                  DataTpl<Scalar,Options,JointCollectionTpl> & data,
                  const Eigen::MatrixBase<ConfigVectorType> & q,
                  const Eigen::MatrixBase<TangentVectorType> & v_before,
                  const Eigen::MatrixBase<ConstraintMatrixType> & J,
                  const Scalar r_coeff,
                  const bool updateKinematics)
  {
    if(updateKinematics)
      return impulseDynamics(model,data,q,v_before,J,r_coeff,Scalar(0));
    else
      return impulseDynamics(model,data,v_before,J,r_coeff,Scalar(0));
  }

} // namespace pinocchio

#include "pinocchio/algorithm/contact-dynamics.hxx"

#endif // ifndef __pinocchio_contact_dynamics_hpp__