crocoddyl 1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
 
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impulse-wrench-cone.hpp
1
2// BSD 3-Clause License
3//
4// Copyright (C) 2020-2021, 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_WRENCH_CONE_HPP_
10#define CROCODDYL_MULTIBODY_COSTS_IMPULSE_WRENCH_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-wrench-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
25template <typename _Scalar>
27 public:
28 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
29
30 typedef _Scalar Scalar;
37 typedef typename MathBase::VectorXs VectorXs;
38 typedef typename MathBase::MatrixXs MatrixXs;
39 typedef typename MathBase::MatrixX6s MatrixX6s;
40
41 CostModelImpulseWrenchConeTpl(boost::shared_ptr<StateMultibody> state,
42 boost::shared_ptr<ActivationModelAbstract> activation, const FrameWrenchCone& fref);
43 CostModelImpulseWrenchConeTpl(boost::shared_ptr<StateMultibody> state, const FrameWrenchCone& fref);
45
46 protected:
47 virtual void set_referenceImpl(const std::type_info& ti, const void* pv);
48 virtual void get_referenceImpl(const std::type_info& ti, void* pv);
49
51 using Base::residual_;
52 using Base::state_;
53
54 private:
55 FrameWrenchCone fref_;
56};
57
58} // namespace crocoddyl
59
60/* --- Details -------------------------------------------------------------- */
61/* --- Details -------------------------------------------------------------- */
62/* --- Details -------------------------------------------------------------- */
63#include "crocoddyl/multibody/costs/impulse-wrench-cone.hxx"
64
65#pragma GCC diagnostic pop
66
67#endif // CROCODDYL_MULTIBODY_COSTS_IMPULSE_WRENCH_CONE_HPP_
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Modify the cost reference.
virtual void get_referenceImpl(const std::type_info &ti, void *pv)
Return the cost 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
Contact wrench cone residual function.
State multibody representation.
Definition: multibody.hpp:31