9 #ifndef CROCODDYL_MULTIBODY_IMPULSE_BASE_HPP_ 10 #define CROCODDYL_MULTIBODY_IMPULSE_BASE_HPP_ 12 #include "crocoddyl/multibody/fwd.hpp" 13 #include "crocoddyl/multibody/states/multibody.hpp" 14 #include "crocoddyl/multibody/force-base.hpp" 15 #include "crocoddyl/core/utils/deprecate.hpp" 19 template <
typename _Scalar>
20 class ImpulseModelAbstractTpl {
22 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
24 typedef _Scalar Scalar;
25 typedef MathBaseTpl<Scalar> MathBase;
26 typedef ImpulseDataAbstractTpl<Scalar> ImpulseDataAbstract;
27 typedef StateMultibodyTpl<Scalar> StateMultibody;
28 typedef typename MathBase::VectorXs VectorXs;
29 typedef typename MathBase::MatrixXs MatrixXs;
31 ImpulseModelAbstractTpl(boost::shared_ptr<StateMultibody> state,
const std::size_t nc);
32 virtual ~ImpulseModelAbstractTpl();
34 virtual void calc(
const boost::shared_ptr<ImpulseDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x) = 0;
35 virtual void calcDiff(
const boost::shared_ptr<ImpulseDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x) = 0;
37 virtual void updateForce(
const boost::shared_ptr<ImpulseDataAbstract>& data,
const VectorXs& force) = 0;
38 void updateForceDiff(
const boost::shared_ptr<ImpulseDataAbstract>& data,
const MatrixXs& df_dx)
const;
39 void setZeroForce(
const boost::shared_ptr<ImpulseDataAbstract>& data)
const;
40 void setZeroForceDiff(
const boost::shared_ptr<ImpulseDataAbstract>& data)
const;
42 virtual boost::shared_ptr<ImpulseDataAbstract> createData(pinocchio::DataTpl<Scalar>*
const data);
44 const boost::shared_ptr<StateMultibody>& get_state()
const;
45 std::size_t get_nc()
const;
46 DEPRECATED(
"Use get_nc().", std::size_t get_ni()
const;)
47 std::size_t get_nu()
const;
52 template <
class Scalar>
53 friend std::ostream& operator<<(std::ostream& os, const ImpulseModelAbstractTpl<Scalar>& model);
60 virtual void print(std::ostream& os)
const;
63 boost::shared_ptr<StateMultibody> state_;
67 template <
typename _Scalar>
68 struct ImpulseDataAbstractTpl :
public ForceDataAbstractTpl<_Scalar> {
69 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
71 typedef _Scalar Scalar;
72 typedef MathBaseTpl<Scalar> MathBase;
73 typedef ForceDataAbstractTpl<Scalar> Base;
74 typedef typename MathBase::VectorXs VectorXs;
75 typedef typename MathBase::MatrixXs MatrixXs;
77 template <
template <
typename Scalar>
class Model>
78 ImpulseDataAbstractTpl(Model<Scalar>*
const model, pinocchio::DataTpl<Scalar>*
const data)
79 : Base(model, data), dv0_dq(model->get_nc(), model->get_state()->get_nv()) {
82 virtual ~ImpulseDataAbstractTpl() {}
98 #include "crocoddyl/multibody/impulse-base.hxx" 100 #endif // CROCODDYL_MULTIBODY_IMPULSE_BASE_HPP_ pinocchio::FrameIndex frame
Frame index of the contact frame.
MatrixXs df_dx
Jacobian of the contact forces.
pinocchio::SE3Tpl< Scalar > jMf
Local frame placement of the contact frame.
pinocchio::ForceTpl< Scalar > f
MatrixXs Jc
Contact Jacobian.
virtual void print(std::ostream &os) const
Print relevant information of the impulse model.
pinocchio::DataTpl< Scalar > * pinocchio
Pinocchio data.