crocoddyl 1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
 
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impulse-cop-position.hpp
1
2// BSD 3-Clause License
3//
4// Copyright (C) 2020-2021, University of Duisburg-Essen, University of Edinburgh, INRIA
5// Copyright note valid unless otherwise stated in individual files.
6// All rights reserved.
8
9#ifndef CROCODDYL_MULTIBODY_COSTS_IMPULSE_COP_POSITION_HPP_
10#define CROCODDYL_MULTIBODY_COSTS_IMPULSE_COP_POSITION_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-cop-position.hpp"
16
17#include "crocoddyl/multibody/frames-deprecated.hpp"
18
19#include "crocoddyl/core/activations/quadratic-barrier.hpp"
20#include "crocoddyl/core/utils/exception.hpp"
21
22namespace crocoddyl {
23
24#pragma GCC diagnostic push // TODO: Remove once the deprecated FrameXX has been removed in a future release
25#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
26
58template <typename _Scalar>
60 public:
61 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
62
63 typedef _Scalar Scalar;
72 typedef typename MathBase::VectorXs VectorXs;
73 typedef typename MathBase::MatrixXs MatrixXs;
74 typedef typename MathBase::Matrix3s Matrix3s;
75
83 CostModelImpulseCoPPositionTpl(boost::shared_ptr<StateMultibody> state,
84 boost::shared_ptr<ActivationModelAbstract> activation,
85 const FrameCoPSupport& cop_support);
86
96 CostModelImpulseCoPPositionTpl(boost::shared_ptr<StateMultibody> state, const FrameCoPSupport& cop_support);
98
99 protected:
103 virtual void set_referenceImpl(const std::type_info& ti, const void* pv);
104
108 virtual void get_referenceImpl(const std::type_info& ti, void* pv);
109
110 using Base::activation_;
111 using Base::nu_;
112 using Base::residual_;
113 using Base::state_;
114
115 private:
116 FrameCoPSupport cop_support_;
117};
118
119} // namespace crocoddyl
120
121/* --- Details -------------------------------------------------------------- */
122/* --- Details -------------------------------------------------------------- */
123/* --- Details -------------------------------------------------------------- */
124#include "crocoddyl/multibody/costs/impulse-cop-position.hxx"
125
126#pragma GCC diagnostic pop
127
128#endif // CROCODDYL_MULTIBODY_COSTS_IMPULSE_COP_POSITION_HPP_
This class encapsulates a center of pressure support of a 6d contact.
Definition: cop-support.hpp:25
Define a center of pressure cost function.
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Return the frame CoP support.
CostModelImpulseCoPPositionTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameCoPSupport &cop_support)
Initialize the impulse CoP cost model.
CostModelImpulseCoPPositionTpl(boost::shared_ptr< StateMultibody > state, const FrameCoPSupport &cop_support)
Initialize the impulse CoP cost model.
virtual void get_referenceImpl(const std::type_info &ti, void *pv)
Modify the frame CoP support.
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
boost::shared_ptr< ResidualModelAbstract > residual_
Residual model.
Definition: cost-base.hpp:242
State multibody representation.
Definition: multibody.hpp:31