Template Class ContactModelAbstractTpl

Inheritance Relationships

Base Type

Derived Types

Class Documentation

template<typename _Scalar>
class ContactModelAbstractTpl : public crocoddyl::ContactModelBase

Subclassed by crocoddyl::ContactModel1DTpl< _Scalar >, crocoddyl::ContactModel2DTpl< _Scalar >, crocoddyl::ContactModel3DTpl< _Scalar >, crocoddyl::ContactModel6DTpl< _Scalar >, crocoddyl::ContactModelNumDiffTpl< _Scalar >

Public Types

typedef MathBaseTpl<Scalar> MathBase
typedef ContactDataAbstractTpl<Scalar> ContactDataAbstract
typedef StateMultibodyTpl<Scalar> StateMultibody
typedef MathBase::VectorXs VectorXs
typedef MathBase::MatrixXs MatrixXs

Public Functions

ContactModelAbstractTpl(std::shared_ptr<StateMultibody> state, const pinocchio::ReferenceFrame type, const std::size_t nc, const std::size_t nu)

Initialize the contact abstraction.

Parameters:

  • state – [in] State of the multibody system

  • type – [in] Type of contact

  • nc – [in] Dimension of the contact model

  • nu – [in] Dimension of the control vector

ContactModelAbstractTpl(std::shared_ptr<StateMultibody> state, const pinocchio::ReferenceFrame type, const std::size_t nc)
DEPRECATED ("Use constructor that passes the type type of contact, this assumes is " "pinocchio::LOCAL", ContactModelAbstractTpl(std::shared_ptr< StateMultibody > state, const std::size_t nc, const std::size_t nu);) DEPRECATED("Use const ructor that passes the type type of contact
this assumes is ContactModelAbstractTpl (std::shared_ptr< StateMultibody > state, const std::size_t nc)
virtual ~ContactModelAbstractTpl() = default
virtual void calc(const std::shared_ptr<ContactDataAbstract> &data, const Eigen::Ref<const VectorXs> &x) = 0

Compute the contact Jacobian and acceleration drift.

Parameters:

  • data – [in] Contact data

  • x – [in] State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

  • u – [in] Control input \(\mathbf{u}\in\mathbb{R}^{nu}\)

virtual void calcDiff(const std::shared_ptr<ContactDataAbstract> &data, const Eigen::Ref<const VectorXs> &x) = 0

Compute the derivatives of the acceleration-based contact.

Parameters:

  • data – [in] Contact data

  • x – [in] State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

  • u – [in] Control input \(\mathbf{u}\in\mathbb{R}^{nu}\)

virtual void updateForce(const std::shared_ptr<ContactDataAbstract> &data, const VectorXs &force) = 0

Convert the force into a stack of spatial forces.

Parameters:

  • data – [in] Contact data

  • force – [in] Contact force

void updateForceDiff(const std::shared_ptr<ContactDataAbstract> &data, const MatrixXs &df_dx, const MatrixXs &df_du) const

Convert the force into a stack of spatial forces.

Parameters:

  • data – [in] Contact data

  • force – [in] Contact force

void setZeroForce(const std::shared_ptr<ContactDataAbstract> &data) const

Set the stack of spatial forces to zero.

Parameters:

data – [in] Contact data

void setZeroForceDiff(const std::shared_ptr<ContactDataAbstract> &data) const

Set the stack of spatial forces Jacobians to zero.

Parameters:

data – [in] Contact data

virtual std::shared_ptr<ContactDataAbstract> createData(pinocchio::DataTpl<Scalar> *const data)

Create the contact data.

const std::shared_ptr<StateMultibody> &get_state() const

Return the state.

std::size_t get_nc() const

Return the dimension of the contact.

std::size_t get_nu() const

Return the dimension of the control vector.

pinocchio::FrameIndex get_id() const

Return the reference frame id.

void set_id(const pinocchio::FrameIndex id)

Modify the reference frame id.

void set_type(const pinocchio::ReferenceFrame type)

Modify the type of contact.

pinocchio::ReferenceFrame get_type() const

Return the type of contact.

virtual void print(std::ostream &os) const

Print relevant information of the contact model.

Parameters:

os – [out] Output stream object

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Protected Functions

inline ContactModelAbstractTpl()

Protected Attributes

std::shared_ptr<StateMultibody> state_
std::size_t nc_
std::size_t nu_
pinocchio::FrameIndex id_

Reference frame id of the contact.

pinocchio::ReferenceFrame type_

Type of contact.

Friends

template<class Scalar>
friend std::ostream &operator<<(std::ostream &os, const ContactModelAbstractTpl<Scalar> &model)

Print information on the contact model.