crocoddyl 1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
 
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impulse-friction-cone.hpp
1
2// BSD 3-Clause License
3//
4// Copyright (C) 2019-2021, 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_FRICTION_CONE_HPP_
10#define CROCODDYL_MULTIBODY_COSTS_IMPULSE_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;
58 typedef typename MathBase::VectorXs VectorXs;
59
67 CostModelImpulseFrictionConeTpl(boost::shared_ptr<StateMultibody> state,
68 boost::shared_ptr<ActivationModelAbstract> activation,
69 const FrameFrictionCone& fref);
70
79 CostModelImpulseFrictionConeTpl(boost::shared_ptr<StateMultibody> state, const FrameFrictionCone& fref);
81
82 protected:
86 virtual void set_referenceImpl(const std::type_info& ti, const void* pv);
87
91 virtual void get_referenceImpl(const std::type_info& ti, void* pv);
92
94 using Base::residual_;
95 using Base::state_;
96
97 private:
98 FrameFrictionCone fref_;
99};
100
101} // namespace crocoddyl
102
103/* --- Details -------------------------------------------------------------- */
104/* --- Details -------------------------------------------------------------- */
105/* --- Details -------------------------------------------------------------- */
106#include "crocoddyl/multibody/costs/impulse-friction-cone.hxx"
107
108#pragma GCC diagnostic pop
109
110#endif // CROCODDYL_MULTIBODY_COSTS_IMPULSE_FRICTION_CONE_HPP_
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Modify the impulse friction cone reference.
CostModelImpulseFrictionConeTpl(boost::shared_ptr< StateMultibody > state, const FrameFrictionCone &fref)
Initialize the impulse friction cone cost model.
CostModelImpulseFrictionConeTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameFrictionCone &fref)
Initialize the impulse friction cone cost model.
virtual void get_referenceImpl(const std::type_info &ti, void *pv)
Return the impulse friction cone 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
boost::shared_ptr< ResidualModelAbstract > residual_
Residual model.
Definition: cost-base.hpp:242
State multibody representation.
Definition: multibody.hpp:31