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loco-3d · Oct 20, 2023 · 4165ad0 · 4165ad0
1 parent 1eef8b3
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Showing 6 changed files with 19 additions and 19 deletions.
diff --git a/bindings/python/crocoddyl/multibody/contacts/contact-1d.cpp b/bindings/python/crocoddyl/multibody/contacts/contact-1d.cpp
@@ -28,8 +28,8 @@ void exposeContact1D() {
       "The calc and calcDiff functions compute the contact Jacobian and drift "
       "(holonomic constraint) or\n"
       "the derivatives of the holonomic constraint, respectively.",
-      bp::init<boost::shared_ptr<StateMultibody>, pinocchio::FrameIndex, 
-               Eigen::Vector3d, pinocchio::ReferenceFrame, std::size_t, 
+      bp::init<boost::shared_ptr<StateMultibody>, pinocchio::FrameIndex,
+               Eigen::Vector3d, pinocchio::ReferenceFrame, std::size_t,
                bp::optional<Eigen::Vector2d> >(
           bp::args("self", "state", "id", "xref", "type", "nu", "gains"),
           "Initialize the contact model.\n\n"
@@ -41,7 +41,7 @@ void exposeContact1D() {
           ":param gains: gains of the contact model (default "
           "np.matrix([0.,0.]))"))
       .def(bp::init<boost::shared_ptr<StateMultibody>, pinocchio::FrameIndex,
-                    Eigen::Vector3d, pinocchio::ReferenceFrame, 
+                    Eigen::Vector3d, pinocchio::ReferenceFrame,
                     bp::optional<Eigen::Vector2d> >(
           bp::args("self", "state", "id", "xref", "type", "gains"),
           "Initialize the contact model.\n\n"

diff --git a/include/crocoddyl/multibody/contacts/contact-1d.hpp b/include/crocoddyl/multibody/contacts/contact-1d.hpp
@@ -42,9 +42,9 @@ class ContactModel1DTpl : public ContactModelAbstractTpl<_Scalar> {
    *
    * To learn more about the computation of the contact derivatives in different
    * frames see
-   *  S. Kleff et. al, On the Derivation of the Contact Dynamics in Arbitrary 
+   *  S. Kleff et. al, On the Derivation of the Contact Dynamics in Arbitrary
    *  Frames: Application to Polishing with Talos, ICHR 2022
-   * 
+   *
    * @param[in] state  State of the multibody system
    * @param[in] id     Reference frame id of the contact
    * @param[in] xref   Contact position used for the Baumgarte stabilization
@@ -63,7 +63,7 @@ class ContactModel1DTpl : public ContactModelAbstractTpl<_Scalar> {
    * The default `nu` is obtained from `StateAbstractTpl::get_nv()`. To learn
    * more about the computation of the contact derivatives in different frames
    * see
-   *  S. Kleff et. al, On the Derivation of the Contact Dynamics in Arbitrary 
+   *  S. Kleff et. al, On the Derivation of the Contact Dynamics in Arbitrary
    *  Frames: Application to Polishing with Talos, ICHR 2022
    *
    * @param[in] state  State of the multibody system
@@ -157,8 +157,8 @@ class ContactModel1DTpl : public ContactModelAbstractTpl<_Scalar> {
   using Base::type_;
 
  private:
-  Vector3s xref_;     //!< Contact position used for the Baumgarte stabilization
-  Vector2s gains_;    //!< Baumgarte stabilization gains
+  Vector3s xref_;   //!< Contact position used for the Baumgarte stabilization
+  Vector2s gains_;  //!< Baumgarte stabilization gains
 };
 
 template <typename _Scalar>
@@ -250,7 +250,6 @@ struct ContactData1DTpl : public ContactDataAbstractTpl<_Scalar> {
   Matrix6xs fXjda_dv;
   Matrix2s oRf;
   Matrix3xs fJf_df;
-
 };
 
 }  // namespace crocoddyl

diff --git a/include/crocoddyl/multibody/contacts/contact-1d.hxx b/include/crocoddyl/multibody/contacts/contact-1d.hxx
@@ -165,7 +165,7 @@ void ContactModel1DTpl<Scalar>::calcDiff(
       pinocchio::skew((oRf * d->a0_local).template head<3>(), d->a0_skew);
       d->a0_world_skew.noalias() = d->a0_skew * oRf;
       d->da0_dx.row(0) = (oRf * d->da0_local_dx).row(2);
-      d->da0_dx.leftCols(nv).row(0) -= 
+      d->da0_dx.leftCols(nv).row(0) -=
           (d->a0_world_skew * d->fJf.template bottomRows<3>()).row(2);
       break;
   }
@@ -186,7 +186,7 @@ void ContactModel1DTpl<Scalar>::updateForce(
   switch (type_) {
     case pinocchio::ReferenceFrame::LOCAL:
       data->fext.linear() = R.col(2) * force[0];
-      data->fext.angular() = d->jMf.translation().cross(data->fext.linear());     
+      data->fext.angular() = d->jMf.translation().cross(data->fext.linear());
       data->dtau_dq.setZero();
       break;
     case pinocchio::ReferenceFrame::WORLD:
@@ -201,7 +201,6 @@ void ContactModel1DTpl<Scalar>::updateForce(
           -d->fJf.template topRows<3>().transpose() * d->fJf_df;
       break;
   }
-
 }
 
 template <typename Scalar>

diff --git a/include/crocoddyl/multibody/contacts/contact-3d.hpp b/include/crocoddyl/multibody/contacts/contact-3d.hpp
@@ -42,8 +42,8 @@ class ContactModel3DTpl : public ContactModelAbstractTpl<_Scalar> {
    * @brief Initialize the 3d contact model
    *
    * To learn more about the computation of the contact derivatives in different
-   * frames see 
-   *  S. Kleff et. al, On the Derivation of the Contact Dynamics in Arbitrary 
+   * frames see
+   *  S. Kleff et. al, On the Derivation of the Contact Dynamics in Arbitrary
    *  Frames: Application to Polishing with Talos, ICHR 2022
    *
    * @param[in] state  State of the multibody system
@@ -64,7 +64,7 @@ class ContactModel3DTpl : public ContactModelAbstractTpl<_Scalar> {
    * The default `nu` is obtained from `StateAbstractTpl::get_nv()`. To learn
    * more about the computation of the contact derivatives in different frames
    * see
-   *  S. Kleff et. al, On the Derivation of the Contact Dynamics in Arbitrary 
+   *  S. Kleff et. al, On the Derivation of the Contact Dynamics in Arbitrary
    *  Frames: Application to Polishing with Talos, ICHR 2022
    *
    * @param[in] state  State of the multibody system

diff --git a/include/crocoddyl/multibody/contacts/contact-6d.hpp b/include/crocoddyl/multibody/contacts/contact-6d.hpp
@@ -41,7 +41,7 @@ class ContactModel6DTpl : public ContactModelAbstractTpl<_Scalar> {
    *
    * To learn more about the computation of the contact derivatives in different
    * frames see
-   *  S. Kleff et. al, On the Derivation of the Contact Dynamics in Arbitrary 
+   *  S. Kleff et. al, On the Derivation of the Contact Dynamics in Arbitrary
    *  Frames: Application to Polishing with Talos, ICHR 2022
    *
    * @param[in] state  State of the multibody system
@@ -61,8 +61,8 @@ class ContactModel6DTpl : public ContactModelAbstractTpl<_Scalar> {
    *
    * The default `nu` is obtained from `StateAbstractTpl::get_nv()`. To learn
    * more about the computation of the contact derivatives in different frames
-   * see 
-   *  S. Kleff et. al, On the Derivation of the Contact Dynamics in Arbitrary 
+   * see
+   *  S. Kleff et. al, On the Derivation of the Contact Dynamics in Arbitrary
    *  Frames: Application to Polishing with Talos, ICHR 2022
    *
    * @param[in] state  State of the multibody system

diff --git a/unittest/bindings/test_copy.py b/unittest/bindings/test_copy.py
@@ -317,7 +317,9 @@ class ContactsTest(CopyModelTestCase):
     MODEL.append(crocoddyl.ContactModelMultiple(state, actuation.nu))
     COLLECTOR.append(pdata)
     MODEL.append(
-        crocoddyl.ContactModel1D(state, frame_id, np.ones(3), pinocchio.LOCAL, actuation.nu, np.zeros(2))
+        crocoddyl.ContactModel1D(
+            state, frame_id, np.ones(3), pinocchio.LOCAL, actuation.nu, np.zeros(2)
+        )
     )
     COLLECTOR.append(pdata)
     MODEL.append(