src/multibody/data.hpp

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//
// Copyright (c) 2015-2022 CNRS INRIA
// Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
//

#ifndef __pinocchio_multibody_data_hpp__
#define __pinocchio_multibody_data_hpp__

#include "pinocchio/math/tensor.hpp"

#include "pinocchio/spatial/fwd.hpp"
#include "pinocchio/spatial/se3.hpp"
#include "pinocchio/spatial/force.hpp"
#include "pinocchio/spatial/motion.hpp"
#include "pinocchio/spatial/inertia.hpp"
#include "pinocchio/multibody/fwd.hpp"
#include "pinocchio/multibody/joint/joint-generic.hpp"
#include "pinocchio/container/aligned-vector.hpp"

#include "pinocchio/serialization/serializable.hpp"

#include <iostream>
#include <Eigen/Cholesky>

namespace pinocchio
{
 
  template<typename _Scalar, int _Options, template<typename,int> class JointCollectionTpl>
  struct DataTpl
  : serialization::Serializable< DataTpl<_Scalar,_Options,JointCollectionTpl> >
  {
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    
    typedef _Scalar Scalar;
    enum { Options = _Options };
    
    typedef JointCollectionTpl<Scalar,Options> JointCollection;
    
    typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
    
    typedef SE3Tpl<Scalar,Options> SE3;
    typedef MotionTpl<Scalar,Options> Motion;
    typedef ForceTpl<Scalar,Options> Force;
    typedef InertiaTpl<Scalar,Options> Inertia;
    typedef FrameTpl<Scalar,Options> Frame;
    
    typedef pinocchio::Index Index;
    typedef pinocchio::JointIndex JointIndex;
    typedef pinocchio::GeomIndex GeomIndex;
    typedef pinocchio::FrameIndex FrameIndex;
    typedef std::vector<Index> IndexVector;
    
    typedef JointModelTpl<Scalar,Options,JointCollectionTpl> JointModel;
    typedef JointDataTpl<Scalar,Options,JointCollectionTpl> JointData;
    
    typedef PINOCCHIO_ALIGNED_STD_VECTOR(JointModel) JointModelVector;
    typedef PINOCCHIO_ALIGNED_STD_VECTOR(JointData) JointDataVector;
    
    typedef Eigen::Matrix<Scalar,Eigen::Dynamic,Eigen::Dynamic,Options> MatrixXs;
    typedef Eigen::Matrix<Scalar,Eigen::Dynamic,1,Options> VectorXs;
    typedef Eigen::Matrix<Scalar,3,1,Options> Vector3;
    typedef Eigen::Matrix<Scalar, 6, 1, Options> Vector6c;
    typedef Eigen::Matrix<Scalar, 1, 6, Eigen::RowMajor | Options> Vector6r;

    typedef VectorXs ConfigVectorType;
    
    typedef VectorXs TangentVectorType;
    
    typedef Eigen::Matrix<Scalar,6,Eigen::Dynamic,Options> Matrix6x;
    typedef Eigen::Matrix<Scalar,3,Eigen::Dynamic,Options> Matrix3x;
    
    typedef Eigen::Matrix<Scalar,6,6,Options> Matrix6;
    typedef Eigen::Matrix<Scalar,6,6,Eigen::RowMajor | Options> RowMatrix6;
    typedef Eigen::Matrix<Scalar,Eigen::Dynamic,Eigen::Dynamic,Eigen::RowMajor | Options> RowMatrixXs;

    typedef Eigen::Matrix<Scalar,6,10,Options> BodyRegressorType;
    
    typedef Tensor<Scalar,3,Options> Tensor3x;

    JointDataVector joints;
    
    PINOCCHIO_ALIGNED_STD_VECTOR(Motion) a;
    
    PINOCCHIO_ALIGNED_STD_VECTOR(Motion) oa;
    
    PINOCCHIO_ALIGNED_STD_VECTOR(Motion) a_gf;
    
    PINOCCHIO_ALIGNED_STD_VECTOR(Motion) oa_gf;
    
    PINOCCHIO_ALIGNED_STD_VECTOR(Motion) v;
    
    PINOCCHIO_ALIGNED_STD_VECTOR(Motion) ov;
    
    PINOCCHIO_ALIGNED_STD_VECTOR(Force) f;
    
    PINOCCHIO_ALIGNED_STD_VECTOR(Force) of;
    
    PINOCCHIO_ALIGNED_STD_VECTOR(Force) h;
    
    PINOCCHIO_ALIGNED_STD_VECTOR(Force) oh;
    
    PINOCCHIO_ALIGNED_STD_VECTOR(SE3) oMi;

    PINOCCHIO_ALIGNED_STD_VECTOR(SE3) liMi;
    
    TangentVectorType tau;
    
    VectorXs nle;
    
    VectorXs g;

    PINOCCHIO_ALIGNED_STD_VECTOR(SE3) oMf;

    PINOCCHIO_ALIGNED_STD_VECTOR(Inertia) Ycrb;
    
    PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6) dYcrb; // TODO: change with dense symmetric matrix6
    
    MatrixXs M;
    
    RowMatrixXs Minv;
    
    MatrixXs C;

    Matrix6x dHdq;
    
    Matrix6x dFdq;
    
    Matrix6x dFdv;
    
    Matrix6x dFda;

    Matrix6x SDinv;

    Matrix6x UDinv;

    Matrix6x IS;

    PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6) vxI;
    
    PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6) Ivx;
    
    PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6) B;
    
    PINOCCHIO_ALIGNED_STD_VECTOR(Inertia) oinertias;
    
    PINOCCHIO_ALIGNED_STD_VECTOR(Inertia) oYcrb;
    
    PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6) doYcrb;
    
    Matrix6 Itmp;
    
    Matrix6 M6tmp;
    RowMatrix6 M6tmpR;
    RowMatrix6 M6tmpR2;
      
    TangentVectorType ddq;
    
    // ABA internal data
    PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6) Yaba;  // TODO: change with dense symmetric matrix6
    
    TangentVectorType u;                  // Joint Inertia
    
    // CCRBA return quantities
    Matrix6x Ag;
    
    // dCCRBA return quantities
    Matrix6x dAg;
    
    Force hg;
    
    Force dhg;
    
    Inertia Ig;

    PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6x) Fcrb;

    std::vector<int> lastChild;
    
    std::vector<int> nvSubtree;
    
    std::vector<int> start_idx_v_fromRow;
    
    std::vector<int> end_idx_v_fromRow;

    MatrixXs U;
    
    VectorXs D;
    
    VectorXs Dinv;
    
    VectorXs tmp;
    
    std::vector<int> parents_fromRow;
    
    std::vector< std::vector<int> > supports_fromRow;
    
    std::vector<int> nvSubtree_fromRow;
    
    Matrix6x J;
    
    Matrix6x dJ;

    Matrix6x ddJ;

    Matrix6x psid;

    Matrix6x psidd;

    Matrix6x dVdq;
    
    Matrix6x dAdq;
    
    Matrix6x dAdv;
    
    MatrixXs dtau_dq;
    
    MatrixXs dtau_dv;
    
    MatrixXs ddq_dq;
    
    MatrixXs ddq_dv;
    
    PINOCCHIO_ALIGNED_STD_VECTOR(SE3) iMf;

    PINOCCHIO_ALIGNED_STD_VECTOR(Vector3) com;
    
    PINOCCHIO_ALIGNED_STD_VECTOR(Vector3) vcom;
    
    PINOCCHIO_ALIGNED_STD_VECTOR(Vector3) acom;
    
    std::vector<Scalar> mass;
    
    Matrix3x Jcom;

    Scalar kinetic_energy;
    
    Scalar potential_energy;
    
    // Temporary variables used in forward dynamics
    
    MatrixXs JMinvJt;
    
    Eigen::LLT<MatrixXs> llt_JMinvJt;
    
    VectorXs lambda_c;
    
    MatrixXs sDUiJt;
    
    VectorXs torque_residual;
    
    TangentVectorType dq_after;
    
    VectorXs impulse_c;
    
    Matrix3x staticRegressor;

    BodyRegressorType bodyRegressor;

    MatrixXs jointTorqueRegressor;

    Tensor3x kinematic_hessians;

    Tensor3x d2tau_dqdq;

    Tensor3x d2tau_dvdv;

    Tensor3x d2tau_dqdv;

    Tensor3x d2tau_dadq;

    explicit DataTpl(const Model & model);
    
    DataTpl() {}

  private:
    void computeLastChild(const Model & model);
    void computeParents_fromRow(const Model & model);
    void computeSupports_fromRow(const Model & model);

  };

} // namespace pinocchio

/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "pinocchio/multibody/data.hxx"

#endif // ifndef __pinocchio_multibody_data_hpp__