crocoddyl  1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
contact-impulse.hpp
1 // 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_CONTACT_IMPULSE_HPP_
10 #define CROCODDYL_MULTIBODY_COSTS_CONTACT_IMPULSE_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-force.hpp"
16 #include "crocoddyl/core/utils/exception.hpp"
17 
18 #include "crocoddyl/multibody/frames-deprecated.hpp"
19 
20 namespace 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 
43 template <typename _Scalar>
45  public:
46  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
47 
48  typedef _Scalar Scalar;
53 
57  typedef typename MathBase::VectorXs VectorXs;
58  typedef typename MathBase::MatrixXs MatrixXs;
59 
69  CostModelContactImpulseTpl(boost::shared_ptr<StateMultibody> state,
70  boost::shared_ptr<ActivationModelAbstract> activation, const FrameForce& fref);
71 
82  CostModelContactImpulseTpl(boost::shared_ptr<StateMultibody> state, const FrameForce& fref, const std::size_t nr);
83 
93  CostModelContactImpulseTpl(boost::shared_ptr<StateMultibody> state, const FrameForce& fref);
94  virtual ~CostModelContactImpulseTpl();
95 
96  protected:
100  virtual void set_referenceImpl(const std::type_info& ti, const void* pv);
101 
105  virtual void get_referenceImpl(const std::type_info& ti, void* pv);
106 
107  using Base::activation_;
108  using Base::nu_;
109  using Base::residual_;
110  using Base::state_;
111  using Base::unone_;
112 
113  protected:
115 };
116 
117 } // namespace crocoddyl
118 
119 /* --- Details -------------------------------------------------------------- */
120 /* --- Details -------------------------------------------------------------- */
121 /* --- Details -------------------------------------------------------------- */
122 #include "crocoddyl/multibody/costs/contact-impulse.hxx"
123 
124 #pragma GCC diagnostic pop
125 
126 #endif // CROCODDYL_MULTIBODY_COSTS_CONTACT_IMPULSE_HPP_
boost::shared_ptr< ResidualModelAbstract > residual_
Residual model.
Definition: cost-base.hpp:242
Abstract class for cost models.
Definition: cost-base.hpp:49
Residual-based cost.
Definition: residual.hpp:36
Define a contact impulse cost function.
boost::shared_ptr< ActivationModelAbstract > activation_
Activation model.
Definition: cost-base.hpp:241
Define a contact force residual function.
Definition: fwd.hpp:102
State multibody representation.
Definition: fwd.hpp:305
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Return the reference spatial impulse .
VectorXs unone_
No control vector.
Definition: cost-base.hpp:244
FrameForce fref_
Reference spatial impulse .
virtual void get_referenceImpl(const std::type_info &ti, void *pv)
Modify the reference spatial impulse .
std::size_t nu_
Control dimension.
Definition: cost-base.hpp:243
boost::shared_ptr< StateAbstract > state_
State description.
Definition: cost-base.hpp:240
CostModelContactImpulseTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameForce &fref)
Initialize the contact impulse cost model.