9 #ifndef CROCODDYL_MULTIBODY_COSTS_IMPULSE_FRICTION_CONE_HPP_ 10 #define CROCODDYL_MULTIBODY_COSTS_IMPULSE_FRICTION_CONE_HPP_ 12 #include "crocoddyl/multibody/fwd.hpp" 13 #include "crocoddyl/multibody/cost-base.hpp" 14 #include "crocoddyl/multibody/impulse-base.hpp" 15 #include "crocoddyl/multibody/impulses/impulse-3d.hpp" 16 #include "crocoddyl/multibody/impulses/impulse-6d.hpp" 17 #include "crocoddyl/multibody/data/impulses.hpp" 18 #include "crocoddyl/multibody/frames.hpp" 19 #include "crocoddyl/multibody/friction-cone.hpp" 20 #include "crocoddyl/core/utils/exception.hpp" 24 template <
typename _Scalar>
27 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
29 typedef _Scalar Scalar;
41 typedef typename MathBase::Vector6s Vector6s;
42 typedef typename MathBase::VectorXs VectorXs;
43 typedef typename MathBase::MatrixXs MatrixXs;
44 typedef typename MathBase::MatrixX3s MatrixX3s;
47 boost::shared_ptr<ActivationModelAbstract> activation,
48 const FrameFrictionCone& fref);
52 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
53 const Eigen::Ref<const VectorXs>& u);
54 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
55 const Eigen::Ref<const VectorXs>& u);
56 virtual boost::shared_ptr<CostDataAbstract> createData(DataCollectorAbstract*
const data);
58 const FrameFrictionCone& get_fref()
const;
59 void set_fref(
const FrameFrictionCone& fref);
62 virtual void set_referenceImpl(
const std::type_info& ti,
const void* pv);
63 virtual void get_referenceImpl(
const std::type_info& ti,
void* pv);
65 using Base::activation_;
70 FrameFrictionCone fref_;
73 template <
typename _Scalar>
75 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
77 typedef _Scalar Scalar;
83 typedef typename MathBase::VectorXs VectorXs;
84 typedef typename MathBase::MatrixXs MatrixXs;
85 typedef typename MathBase::Matrix6xs Matrix6xs;
87 template <
template <
typename Scalar>
class Model>
89 : Base(model, data), more_than_3_constraints(
false) {
93 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorImpulse");
97 const FrameFrictionCone& fref = model->get_fref();
98 std::string frame_name = model->get_state()->get_pinocchio()->frames[fref.frame].name;
99 bool found_impulse =
false;
100 for (
typename ImpulseModelMultiple::ImpulseDataContainer::iterator it = d->impulses->impulses.begin();
101 it != d->impulses->impulses.end(); ++it) {
102 if (it->second->frame == fref.frame) {
105 found_impulse =
true;
106 impulse = it->second;
111 more_than_3_constraints =
true;
112 found_impulse =
true;
113 impulse = it->second;
116 throw_pretty(
"Domain error: there isn't defined at least a 3d impulse for " + frame_name);
120 if (!found_impulse) {
121 throw_pretty(
"Domain error: there isn't defined impulse data for " + frame_name);
125 boost::shared_ptr<ImpulseDataAbstractTpl<Scalar> > impulse;
126 bool more_than_3_constraints;
127 using Base::activation;
141 #include "crocoddyl/multibody/costs/impulse-friction-cone.hxx" 143 #endif // CROCODDYL_MULTIBODY_COSTS_IMPULSE_FRICTION_CONE_HPP_