crocoddyl 1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
 
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contact-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_CONTACT_COP_POSITION_HPP_
10#define CROCODDYL_MULTIBODY_COSTS_CONTACT_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#include "crocoddyl/core/activations/quadratic-barrier.hpp"
17#include "crocoddyl/core/utils/exception.hpp"
18
19#include "crocoddyl/multibody/frames-deprecated.hpp"
20
21namespace crocoddyl {
22
23#pragma GCC diagnostic push // TODO: Remove once the deprecated FrameXX has been removed in a future release
24#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
25
56template <typename _Scalar>
58 public:
59 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
60
61 typedef _Scalar Scalar;
71 typedef typename MathBase::Matrix3s Matrix3s;
72 typedef typename MathBase::VectorXs VectorXs;
73
82 CostModelContactCoPPositionTpl(boost::shared_ptr<StateMultibody> state,
83 boost::shared_ptr<ActivationModelAbstract> activation,
84 const FrameCoPSupport& cop_support, const std::size_t nu);
85
95 CostModelContactCoPPositionTpl(boost::shared_ptr<StateMultibody> state,
96 boost::shared_ptr<ActivationModelAbstract> activation,
97 const FrameCoPSupport& cop_support);
98
109 CostModelContactCoPPositionTpl(boost::shared_ptr<StateMultibody> state, const FrameCoPSupport& cop_support,
110 const std::size_t nu);
111
122 CostModelContactCoPPositionTpl(boost::shared_ptr<StateMultibody> state, const FrameCoPSupport& cop_support);
124
125 protected:
129 virtual void set_referenceImpl(const std::type_info& ti, const void* pv);
130
134 virtual void get_referenceImpl(const std::type_info& ti, void* pv);
135
136 using Base::activation_;
137 using Base::nu_;
138 using Base::residual_;
139 using Base::state_;
140 using Base::unone_;
141
142 private:
143 FrameCoPSupport cop_support_;
144};
145
146} // namespace crocoddyl
147
148/* --- Details -------------------------------------------------------------- */
149/* --- Details -------------------------------------------------------------- */
150/* --- Details -------------------------------------------------------------- */
151#include "crocoddyl/multibody/costs/contact-cop-position.hxx"
152
153#pragma GCC diagnostic pop
154
155#endif // CROCODDYL_MULTIBODY_COSTS_CONTACT_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.
CostModelContactCoPPositionTpl(boost::shared_ptr< StateMultibody > state, const FrameCoPSupport &cop_support, const std::size_t nu)
Initialize the contact CoP cost model.
CostModelContactCoPPositionTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameCoPSupport &cop_support)
Initialize the contact CoP cost model.
CostModelContactCoPPositionTpl(boost::shared_ptr< StateMultibody > state, const FrameCoPSupport &cop_support)
Initialize the contact CoP cost model.
virtual void get_referenceImpl(const std::type_info &ti, void *pv)
Modify the frame CoP support.
CostModelContactCoPPositionTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameCoPSupport &cop_support, const std::size_t nu)
Initialize the contact CoP 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
Center of pressure residual function.
State multibody representation.
Definition: multibody.hpp:31