crocoddyl 1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
 
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frame-translation.hpp
1
3// BSD 3-Clause License
4//
5// Copyright (C) 2019-2021, LAAS-CNRS, University of Edinburgh, INRIA
6// Copyright note valid unless otherwise stated in individual files.
7// All rights reserved.
9
10#ifndef CROCODDYL_MULTIBODY_COSTS_FRAME_TRANSLATION_HPP_
11#define CROCODDYL_MULTIBODY_COSTS_FRAME_TRANSLATION_HPP_
12
13#include "crocoddyl/multibody/fwd.hpp"
14#include "crocoddyl/core/costs/residual.hpp"
15#include "crocoddyl/multibody/states/multibody.hpp"
16#include "crocoddyl/multibody/residuals/frame-translation.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
41template <typename _Scalar>
43 public:
44 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
45
46 typedef _Scalar Scalar;
53 typedef typename MathBase::VectorXs VectorXs;
54 typedef typename MathBase::Matrix3xs Matrix3xs;
55
64 CostModelFrameTranslationTpl(boost::shared_ptr<StateMultibody> state,
65 boost::shared_ptr<ActivationModelAbstract> activation, const FrameTranslation& xref,
66 const std::size_t nu);
67
77 CostModelFrameTranslationTpl(boost::shared_ptr<StateMultibody> state,
78 boost::shared_ptr<ActivationModelAbstract> activation, const FrameTranslation& xref);
79
89 CostModelFrameTranslationTpl(boost::shared_ptr<StateMultibody> state, const FrameTranslation& xref,
90 const std::size_t nu);
91
101 CostModelFrameTranslationTpl(boost::shared_ptr<StateMultibody> state, const FrameTranslation& xref);
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 FrameTranslation xref_;
123};
124
125} // namespace crocoddyl
126
127/* --- Details -------------------------------------------------------------- */
128/* --- Details -------------------------------------------------------------- */
129/* --- Details -------------------------------------------------------------- */
130#include "crocoddyl/multibody/costs/frame-translation.hxx"
131
132#pragma GCC diagnostic pop
133
134#endif // CROCODDYL_MULTIBODY_COSTS_FRAME_TRANSLATION_HPP_
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Modify the frame translation reference.
CostModelFrameTranslationTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameTranslation &xref, const std::size_t nu)
Initialize the frame translation cost model.
CostModelFrameTranslationTpl(boost::shared_ptr< StateMultibody > state, const FrameTranslation &xref, const std::size_t nu)
Initialize the frame translation cost model.
CostModelFrameTranslationTpl(boost::shared_ptr< StateMultibody > state, const FrameTranslation &xref)
Initialize the frame translation cost model.
CostModelFrameTranslationTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameTranslation &xref)
Initialize the frame translation cost model.
virtual void get_referenceImpl(const std::type_info &ti, void *pv)
Return the frame translation reference.
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