contacts/contact-point.hpp

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//
// Copyright (c) 2017 CNRS, NYU, MPI Tübingen
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//

#ifndef __invdyn_contact_point_hpp__
#define __invdyn_contact_point_hpp__

#include "tsid/contacts/contact-base.hpp"
#include "tsid/tasks/task-se3-equality.hpp"
#include "tsid/math/constraint-inequality.hpp"
#include "tsid/math/constraint-equality.hpp"

namespace tsid {
namespace contacts {
class ContactPoint : public ContactBase {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  typedef math::ConstRefMatrix ConstRefMatrix;
  typedef math::ConstRefVector ConstRefVector;
  typedef math::Matrix3x Matrix3x;
  typedef math::Vector6 Vector6;
  typedef math::Vector3 Vector3;
  typedef math::Vector Vector;
  typedef tasks::TaskSE3Equality TaskSE3Equality;
  typedef math::ConstraintInequality ConstraintInequality;
  typedef math::ConstraintEquality ConstraintEquality;
  typedef pinocchio::SE3 SE3;

  ContactPoint(const std::string& name, RobotWrapper& robot,
               const std::string& frameName, ConstRefVector contactNormal,
               const double frictionCoefficient, const double minNormalForce,
               const double maxNormalForce);

  virtual ~ContactPoint() {}

  virtual unsigned int n_motion() const;

  virtual unsigned int n_force() const;

  virtual const ConstraintBase& computeMotionTask(const double t,
                                                  ConstRefVector q,
                                                  ConstRefVector v, Data& data);

  virtual const ConstraintInequality& computeForceTask(const double t,
                                                       ConstRefVector q,
                                                       ConstRefVector v,
                                                       const Data& data);

  virtual const Matrix& getForceGeneratorMatrix();

  virtual const ConstraintEquality& computeForceRegularizationTask(
      const double t, ConstRefVector q, ConstRefVector v, const Data& data);

  const TaskSE3Equality& getMotionTask() const;
  const ConstraintBase& getMotionConstraint() const;
  const ConstraintInequality& getForceConstraint() const;
  const ConstraintEquality& getForceRegularizationTask() const;
  double getMotionTaskWeight() const;
  const Matrix3x& getContactPoints() const;

  double getNormalForce(ConstRefVector f) const;
  double getMinNormalForce() const;
  double getMaxNormalForce() const;

  const Vector&
  Kp();  // cannot be const because it set a member variable inside
  const Vector&
  Kd();  // cannot be const because it set a member variable inside
  void Kp(ConstRefVector Kp);
  void Kd(ConstRefVector Kp);

  bool setContactNormal(ConstRefVector contactNormal);

  bool setFrictionCoefficient(const double frictionCoefficient);
  bool setMinNormalForce(const double minNormalForce);
  bool setMaxNormalForce(const double maxNormalForce);
  bool setMotionTaskWeight(const double w);
  void setReference(const SE3& ref);
  void setForceReference(ConstRefVector& f_ref);
  void setRegularizationTaskWeightVector(ConstRefVector& w);

  void useLocalFrame(bool local_frame);

 protected:
  void updateForceInequalityConstraints();
  void updateForceRegularizationTask();
  void updateForceGeneratorMatrix();

  TaskSE3Equality m_motionTask;
  ConstraintInequality m_forceInequality;
  ConstraintEquality m_forceRegTask;
  Vector3 m_contactNormal;
  Vector3 m_fRef;
  Vector3 m_weightForceRegTask;
  Matrix3x m_contactPoints;
  Vector m_Kp3, m_Kd3;  // gain vectors to be returned by reference
  double m_mu;
  double m_fMin;
  double m_fMax;
  double m_regularizationTaskWeight;
  double m_motionTaskWeight;
  Matrix m_forceGenMat;
};
}  // namespace contacts
}  // namespace tsid

#endif  // ifndef __invdyn_contact_6d_hpp__