contact-base.hpp

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//
// Copyright (c) 2017 CNRS
//

#ifndef __invdyn_contact_base_hpp__
#define __invdyn_contact_base_hpp__

#include "tsid/math/fwd.hpp"
#include "tsid/robots/fwd.hpp"
#include "tsid/tasks/task-se3-equality.hpp"

namespace tsid {
namespace contacts {

class ContactBase {
 public:
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW

 typedef math::ConstraintBase ConstraintBase;
 typedef math::ConstraintInequality ConstraintInequality;
 typedef math::ConstraintEquality ConstraintEquality;
 typedef math::ConstRefVector ConstRefVector;
 typedef math::Matrix Matrix;
 typedef math::Matrix3x Matrix3x;
 typedef tasks::TaskSE3Equality TaskSE3Equality;
 typedef tasks::TaskMotion TaskMotion;
 typedef pinocchio::Data Data;
 typedef robots::RobotWrapper RobotWrapper;

 ContactBase(const std::string& name, RobotWrapper& robot);

 virtual ~ContactBase() = default;

 const std::string& name() const;

 void name(const std::string& name);

 virtual unsigned int n_motion() const = 0;

 virtual unsigned int n_force() const = 0;

 virtual const ConstraintBase& computeMotionTask(const double t,
 ConstRefVector q,
 ConstRefVector v,
 Data& data) = 0;

 virtual const ConstraintInequality& computeForceTask(const double t,
 ConstRefVector q,
 ConstRefVector v,
 const Data& data) = 0;

 virtual const Matrix& getForceGeneratorMatrix() = 0;

 virtual const ConstraintEquality& computeForceRegularizationTask(
 const double t, ConstRefVector q, ConstRefVector v, const Data& data) = 0;

 virtual const TaskMotion& getMotionTask() const = 0;
 virtual const ConstraintBase& getMotionConstraint() const = 0;
 virtual const ConstraintInequality& getForceConstraint() const = 0;
 virtual const ConstraintEquality& getForceRegularizationTask() const = 0;

 virtual double getMinNormalForce() const = 0;
 virtual double getMaxNormalForce() const = 0;
 virtual bool setMinNormalForce(const double minNormalForce) = 0;
 virtual bool setMaxNormalForce(const double maxNormalForce) = 0;
 virtual double getNormalForce(ConstRefVector f) const = 0;
 virtual const Matrix3x& getContactPoints() const = 0;

 protected:
 std::string m_name;
 RobotWrapper& m_robot;
};

} // namespace contacts
} // namespace tsid

#endif // ifndef __invdyn_contact_base_hpp__