crocoddyl 1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
 
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frame-placement.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_FRAME_PLACEMENT_HPP_
10#define CROCODDYL_MULTIBODY_COSTS_FRAME_PLACEMENT_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/frame-placement.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
40template <typename _Scalar>
42 public:
43 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
44
45 typedef _Scalar Scalar;
52 typedef typename MathBase::VectorXs VectorXs;
53 typedef typename MathBase::Matrix6xs Matrix6xs;
54
63 CostModelFramePlacementTpl(boost::shared_ptr<StateMultibody> state,
64 boost::shared_ptr<ActivationModelAbstract> activation, const FramePlacement& Fref,
65 const std::size_t nu);
66
76 CostModelFramePlacementTpl(boost::shared_ptr<StateMultibody> state,
77 boost::shared_ptr<ActivationModelAbstract> activation, const FramePlacement& Fref);
78
88 CostModelFramePlacementTpl(boost::shared_ptr<StateMultibody> state, const FramePlacement& Fref,
89 const std::size_t nu);
90
101 CostModelFramePlacementTpl(boost::shared_ptr<StateMultibody> state, const FramePlacement& Fref);
103
104 protected:
108 virtual void get_referenceImpl(const std::type_info& ti, void* pv);
109
113 virtual void set_referenceImpl(const std::type_info& ti, const void* pv);
114
115 using Base::activation_;
116 using Base::nu_;
117 using Base::residual_;
118 using Base::state_;
119 using Base::unone_;
120
121 private:
122 FramePlacement Mref_;
123};
124
125} // namespace crocoddyl
126
127/* --- Details -------------------------------------------------------------- */
128/* --- Details -------------------------------------------------------------- */
129/* --- Details -------------------------------------------------------------- */
130#include "crocoddyl/multibody/costs/frame-placement.hxx"
131
132#pragma GCC diagnostic pop
133
134#endif // CROCODDYL_MULTIBODY_COSTS_FRAME_PLACEMENT_HPP_
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Modify the frame placement reference.
CostModelFramePlacementTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FramePlacement &Fref, const std::size_t nu)
Initialize the frame placement cost model.
CostModelFramePlacementTpl(boost::shared_ptr< StateMultibody > state, const FramePlacement &Fref, const std::size_t nu)
Initialize the frame placement cost model.
CostModelFramePlacementTpl(boost::shared_ptr< StateMultibody > state, const FramePlacement &Fref)
Initialize the frame placement cost model.
virtual void get_referenceImpl(const std::type_info &ti, void *pv)
Return the frame placement reference.
CostModelFramePlacementTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FramePlacement &Fref)
Initialize the frame placement 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