crocoddyl 1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
 
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contact-friction-cone.hpp
1
2// BSD 3-Clause License
3//
4// Copyright (C) 2019-2021, LAAS-CNRS, University of Edinburgh, INRIA
5// Copyright note valid unless otherwise stated in individual files.
6// All rights reserved.
8
9#ifndef CROCODDYL_MULTIBODY_COSTS_CONTACT_FRICTION_CONE_HPP_
10#define CROCODDYL_MULTIBODY_COSTS_CONTACT_FRICTION_CONE_HPP_
11
12#include "crocoddyl/multibody/fwd.hpp"
13#include "crocoddyl/core/costs/residual.hpp"
14#include "crocoddyl/multibody/states/multibody.hpp"
15#include "crocoddyl/multibody/residuals/contact-friction-cone.hpp"
16#include "crocoddyl/core/utils/exception.hpp"
17
18#include "crocoddyl/multibody/frames-deprecated.hpp"
19
20namespace crocoddyl {
21
22#pragma GCC diagnostic push // TODO: Remove once the deprecated FrameXX has been removed in a future release
23#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
24
47template <typename _Scalar>
49 public:
50 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
51
52 typedef _Scalar Scalar;
60 typedef typename MathBase::VectorXs VectorXs;
61
70 CostModelContactFrictionConeTpl(boost::shared_ptr<StateMultibody> state,
71 boost::shared_ptr<ActivationModelAbstract> activation, const FrameFrictionCone& fref,
72 const std::size_t nu);
73
83 CostModelContactFrictionConeTpl(boost::shared_ptr<StateMultibody> state,
84 boost::shared_ptr<ActivationModelAbstract> activation,
85 const FrameFrictionCone& fref);
86
96 CostModelContactFrictionConeTpl(boost::shared_ptr<StateMultibody> state, const FrameFrictionCone& fref,
97 const std::size_t nu);
98
108 CostModelContactFrictionConeTpl(boost::shared_ptr<StateMultibody> state, const FrameFrictionCone& fref);
110
111 protected:
115 virtual void set_referenceImpl(const std::type_info& ti, const void* pv);
116
120 virtual void get_referenceImpl(const std::type_info& ti, void* pv);
121
122 using Base::activation_;
123 using Base::nu_;
124 using Base::residual_;
125 using Base::state_;
126 using Base::unone_;
127
128 private:
129 FrameFrictionCone fref_;
130};
131
132} // namespace crocoddyl
133
134/* --- Details -------------------------------------------------------------- */
135/* --- Details -------------------------------------------------------------- */
136/* --- Details -------------------------------------------------------------- */
137#include "crocoddyl/multibody/costs/contact-friction-cone.hxx"
138
139#pragma GCC diagnostic pop
140
141#endif // CROCODDYL_MULTIBODY_COSTS_CONTACT_FRICTION_CONE_HPP_
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Modify the contact friction cone reference.
CostModelContactFrictionConeTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameFrictionCone &fref)
Initialize the contact friction cone cost model.
CostModelContactFrictionConeTpl(boost::shared_ptr< StateMultibody > state, const FrameFrictionCone &fref)
Initialize the contact friction cone cost model.
CostModelContactFrictionConeTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameFrictionCone &fref, const std::size_t nu)
Initialize the contact friction cone cost model.
virtual void get_referenceImpl(const std::type_info &ti, void *pv)
Return the contact friction cone reference.
CostModelContactFrictionConeTpl(boost::shared_ptr< StateMultibody > state, const FrameFrictionCone &fref, const std::size_t nu)
Initialize the contact friction cone cost model.
Residual-based cost.
Definition: residual.hpp:36
boost::shared_ptr< ActivationModelAbstract > activation_
Activation model.
Definition: cost-base.hpp:241
boost::shared_ptr< StateAbstract > state_
State description.
Definition: cost-base.hpp:240
std::size_t nu_
Control dimension.
Definition: cost-base.hpp:243
VectorXs unone_
No control vector.
Definition: cost-base.hpp:244
boost::shared_ptr< ResidualModelAbstract > residual_
Residual model.
Definition: cost-base.hpp:242
State multibody representation.
Definition: multibody.hpp:31