9 #ifndef CROCODDYL_MULTIBODY_COSTS_COM_POSITION_HPP_ 10 #define CROCODDYL_MULTIBODY_COSTS_COM_POSITION_HPP_ 12 #include "crocoddyl/multibody/fwd.hpp" 13 #include "crocoddyl/core/cost-base.hpp" 14 #include "crocoddyl/multibody/states/multibody.hpp" 15 #include "crocoddyl/multibody/data/multibody.hpp" 16 #include "crocoddyl/core/utils/exception.hpp" 17 #include "crocoddyl/core/utils/deprecate.hpp" 37 template <
typename _Scalar>
40 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
42 typedef _Scalar Scalar;
50 typedef typename MathBase::Vector3s Vector3s;
51 typedef typename MathBase::VectorXs VectorXs;
62 boost::shared_ptr<ActivationModelAbstract> activation,
const Vector3s& cref,
63 const std::size_t nu);
75 boost::shared_ptr<ActivationModelAbstract> activation,
const Vector3s& cref);
107 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
108 const Eigen::Ref<const VectorXs>& u);
117 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
118 const Eigen::Ref<const VectorXs>& u);
119 virtual boost::shared_ptr<CostDataAbstract>
createData(DataCollectorAbstract*
const data);
121 DEPRECATED(
"Use set_reference<MathBaseTpl<Scalar>::Vector3s>()",
void set_cref(
const Vector3s& cref_in));
122 DEPRECATED(
"Use get_reference<MathBaseTpl<Scalar>::Vector3s>()",
const Vector3s& get_cref()
const);
144 template <
typename _Scalar>
146 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
148 typedef _Scalar Scalar;
152 typedef typename MathBase::Matrix3xs Matrix3xs;
154 template <
template <
typename Scalar>
class Model>
156 : Base(model, data), Arr_Jcom(3, model->get_state()->get_nv()) {
161 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorMultibody");
165 pinocchio = d->pinocchio;
168 pinocchio::DataTpl<Scalar>* pinocchio;
171 using Base::activation;
189 #include "crocoddyl/multibody/costs/com-position.hxx" 191 #endif // CROCODDYL_MULTIBODY_COSTS_COM_POSITION_HPP_ Abstract class for cost models.
boost::shared_ptr< ActivationModelAbstract > activation_
Activation model.
CostModelCoMPositionTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const Vector3s &cref, const std::size_t nu)
Initialize the CoM position cost model.
virtual boost::shared_ptr< CostDataAbstract > createData(DataCollectorAbstract *const data)
Create the cost data.
virtual void get_referenceImpl(const std::type_info &ti, void *pv) const
Return the CoM position reference.
State multibody representation.
virtual void calcDiff(const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the derivatives of the CoM position cost.
VectorXs unone_
No control vector.
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Modify the CoM position reference.
virtual void calc(const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the CoM position cost.
std::size_t nu_
Control dimension.
boost::shared_ptr< StateAbstract > state_
State description.