contact-1d.hpp

// BSD 3-Clause License
//
// Copyright (C) 2020-2026, LAAS-CNRS, University of Edinburgh,
// Heriot-Watt University
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.

#ifndef CROCODDYL_MULTIBODY_CONTACTS_CONTACT_1D_HPP_
#define CROCODDYL_MULTIBODY_CONTACTS_CONTACT_1D_HPP_

#include "crocoddyl/core/utils/conversions.hpp"
#include "crocoddyl/multibody/contact-base.hpp"
#include "crocoddyl/multibody/fwd.hpp"

namespace crocoddyl {

template <typename _Scalar>
class ContactModel1DTpl : public ContactModelAbstractTpl<_Scalar> {
 public:
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 CROCODDYL_DERIVED_CAST(ContactModelBase, ContactModel1DTpl)

 typedef _Scalar Scalar;
 typedef MathBaseTpl<Scalar> MathBase;
 typedef ContactModelAbstractTpl<Scalar> Base;
 typedef ContactData1DTpl<Scalar> Data;
 typedef StateMultibodyTpl<Scalar> StateMultibody;
 typedef ContactDataAbstractTpl<Scalar> ContactDataAbstract;
 typedef typename MathBase::Vector2s Vector2s;
 typedef typename MathBase::Vector3s Vector3s;
 typedef typename MathBase::VectorXs VectorXs;
 typedef typename MathBase::Matrix3s Matrix3s;

 ContactModel1DTpl(std::shared_ptr<StateMultibody> state,
 const pinocchio::FrameIndex id, const Scalar xref,
 const pinocchio::ReferenceFrame type,
 const Matrix3s& rotation, const std::size_t nu,
 const Vector2s& gains = Vector2s::Zero());

 ContactModel1DTpl(std::shared_ptr<StateMultibody> state,
 const pinocchio::FrameIndex id, const Scalar xref,
 const pinocchio::ReferenceFrame type,
 const Vector2s& gains = Vector2s::Zero());

 DEPRECATED(
 "Use constructor that passes the type type of contact, this assumes is "
 "pinocchio::LOCAL",
 ContactModel1DTpl(std::shared_ptr<StateMultibody> state,
 const pinocchio::FrameIndex id, const Scalar xref,
 const std::size_t nu,
 const Vector2s& gains = Vector2s::Zero());)
 DEPRECATED(
 "Use constructor that passes the type type of contact, this assumes is "
 "pinocchio::LOCAL",
 ContactModel1DTpl(std::shared_ptr<StateMultibody> state,
 const pinocchio::FrameIndex id, const Scalar xref,
 const Vector2s& gains = Vector2s::Zero());)
 virtual ~ContactModel1DTpl() = default;

 virtual void calc(const std::shared_ptr<ContactDataAbstract>& data,
 const Eigen::Ref<const VectorXs>& x) override;

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

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

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

 template <typename NewScalar>
 ContactModel1DTpl<NewScalar> cast() const;

 const Scalar get_reference() const;

 const Vector2s& get_gains() const;

 const Matrix3s& get_axis_rotation() const;

 void set_reference(const Scalar reference);

 void set_axis_rotation(const Matrix3s& rotation);

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

 protected:
 using Base::id_;
 using Base::nc_;
 using Base::nu_;
 using Base::state_;
 using Base::type_;

 private:
 Scalar xref_;
 Matrix3s Raxis_;
 Vector2s gains_;
};

template <typename _Scalar>
struct ContactData1DTpl : public ContactDataAbstractTpl<_Scalar> {
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW

 typedef _Scalar Scalar;
 typedef MathBaseTpl<Scalar> MathBase;
 typedef ContactDataAbstractTpl<Scalar> Base;
 typedef typename MathBase::Matrix2s Matrix2s;
 typedef typename MathBase::Matrix3s Matrix3s;
 typedef typename MathBase::Matrix3xs Matrix3xs;
 typedef typename MathBase::Matrix6xs Matrix6xs;
 typedef typename MathBase::Vector3s Vector3s;
 typedef typename pinocchio::MotionTpl<Scalar> Motion;
 typedef typename pinocchio::ForceTpl<Scalar> Force;

 template <template <typename Scalar> class Model>
 ContactData1DTpl(Model<Scalar>* const model,
 pinocchio::DataTpl<Scalar>* const data)
 : Base(model, data),
 v(Motion::Zero()),
 f_local(Force::Zero()),
 da0_local_dx(3, model->get_state()->get_ndx()),
 fJf(6, model->get_state()->get_nv()),
 v_partial_dq(6, model->get_state()->get_nv()),
 a_partial_dq(6, model->get_state()->get_nv()),
 a_partial_dv(6, model->get_state()->get_nv()),
 a_partial_da(6, model->get_state()->get_nv()),
 fXjdv_dq(6, model->get_state()->get_nv()),
 fXjda_dq(6, model->get_state()->get_nv()),
 fXjda_dv(6, model->get_state()->get_nv()),
 fJf_df(3, model->get_state()->get_nv()) {
 frame = model->get_id();
 jMf = model->get_state()->get_pinocchio()->frames[frame].placement;
 fXj = jMf.inverse().toActionMatrix();
 a0_local.setZero();
 dp.setZero();
 dp_local.setZero();
 da0_local_dx.setZero();
 fJf.setZero();
 v_partial_dq.setZero();
 a_partial_dq.setZero();
 a_partial_dv.setZero();
 a_partial_da.setZero();
 vv_skew.setZero();
 vw_skew.setZero();
 a0_skew.setZero();
 a0_world_skew.setZero();
 dp_skew.setZero();
 f_skew.setZero();
 fXjdv_dq.setZero();
 fXjda_dq.setZero();
 fXjda_dv.setZero();
 oRf.setZero();
 fJf_df.setZero();
 }
 virtual ~ContactData1DTpl() = default;

 using Base::a0;
 using Base::da0_dx;
 using Base::df_du;
 using Base::df_dx;
 using Base::f;
 using Base::frame;
 using Base::fXj;
 using Base::Jc;
 using Base::jMf;
 using Base::pinocchio;

 Motion v;
 Vector3s a0_local;
 Vector3s dp;
 Vector3s dp_local;
 Force f_local;
 Matrix3xs da0_local_dx;
 Matrix6xs fJf;
 Matrix6xs v_partial_dq;
 Matrix6xs a_partial_dq;
 Matrix6xs a_partial_dv;
 Matrix6xs a_partial_da;
 Matrix3s vv_skew;
 Matrix3s vw_skew;
 Matrix3s a0_skew;
 Matrix3s a0_world_skew;
 Matrix3s dp_skew;
 Matrix3s f_skew;
 Matrix6xs fXjdv_dq;
 Matrix6xs fXjda_dq;
 Matrix6xs fXjda_dv;
 Matrix2s oRf;
 Matrix3xs fJf_df;
};

} // namespace crocoddyl

/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/multibody/contacts/contact-1d.hxx"

CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::ContactModel1DTpl)
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::ContactData1DTpl)

#endif // CROCODDYL_MULTIBODY_CONTACTS_CONTACT_1D_HPP_