crocoddyl  1.3.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
frame-translation.hpp
1 
3 // BSD 3-Clause License
4 //
5 // Copyright (C) 2018-2020, LAAS-CNRS, University of Edinburgh
6 // Copyright note valid unless otherwise stated in individual files.
7 // All rights reserved.
9 
10 #ifndef CROCODDYL_MULTIBODY_COSTS_FRAME_TRANSLATION_HPP_
11 #define CROCODDYL_MULTIBODY_COSTS_FRAME_TRANSLATION_HPP_
12 
13 #include "crocoddyl/multibody/fwd.hpp"
14 #include "crocoddyl/multibody/cost-base.hpp"
15 #include "crocoddyl/multibody/data/multibody.hpp"
16 #include "crocoddyl/multibody/frames.hpp"
17 #include "crocoddyl/core/utils/exception.hpp"
18 
19 namespace crocoddyl {
20 
21 template <typename _Scalar>
23  public:
24  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
25 
26  typedef _Scalar Scalar;
36  typedef typename MathBase::VectorXs VectorXs;
37  typedef typename MathBase::MatrixXs MatrixXs;
38 
39  CostModelFrameTranslationTpl(boost::shared_ptr<StateMultibody> state,
40  boost::shared_ptr<ActivationModelAbstract> activation, const FrameTranslation& xref,
41  const std::size_t& nu);
42  CostModelFrameTranslationTpl(boost::shared_ptr<StateMultibody> state,
43  boost::shared_ptr<ActivationModelAbstract> activation, const FrameTranslation& xref);
44  CostModelFrameTranslationTpl(boost::shared_ptr<StateMultibody> state, const FrameTranslation& xref,
45  const std::size_t& nu);
46  CostModelFrameTranslationTpl(boost::shared_ptr<StateMultibody> state, const FrameTranslation& xref);
48 
49  virtual void calc(const boost::shared_ptr<CostDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
50  const Eigen::Ref<const VectorXs>& u);
51  virtual void calcDiff(const boost::shared_ptr<CostDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
52  const Eigen::Ref<const VectorXs>& u);
53  virtual boost::shared_ptr<CostDataAbstract> createData(DataCollectorAbstract* const data);
54 
55  const FrameTranslation& get_xref() const;
56  void set_xref(const FrameTranslation& xref_in);
57 
58  protected:
59  virtual void set_referenceImpl(const std::type_info& ti, const void* pv);
60  virtual void get_referenceImpl(const std::type_info& ti, void* pv);
61 
62  using Base::activation_;
63  using Base::nu_;
64  using Base::state_;
65  using Base::unone_;
66 
67  private:
68  FrameTranslation xref_;
69 };
70 
71 template <typename _Scalar>
73  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
74 
75  typedef _Scalar Scalar;
79  typedef typename MathBase::VectorXs VectorXs;
80  typedef typename MathBase::MatrixXs MatrixXs;
81  typedef typename MathBase::Matrix3xs Matrix3xs;
82  typedef typename MathBase::Matrix6xs Matrix6xs;
83 
84  template <template <typename Scalar> class Model>
85  CostDataFrameTranslationTpl(Model<Scalar>* const model, DataCollectorAbstract* const data)
86  : Base(model, data), J(3, model->get_state()->get_nv()), fJf(6, model->get_state()->get_nv()) {
87  J.setZero();
88  fJf.setZero();
89  // Check that proper shared data has been passed
91  if (d == NULL) {
92  throw_pretty("Invalid argument: the shared data should be derived from DataCollectorMultibody");
93  }
94 
95  // Avoids data casting at runtime
96  pinocchio = d->pinocchio;
97  }
98 
99  pinocchio::DataTpl<Scalar>* pinocchio;
100  Matrix3xs J;
101  Matrix6xs fJf;
102 
103  using Base::activation;
104  using Base::cost;
105  using Base::Lu;
106  using Base::Luu;
107  using Base::Lx;
108  using Base::Lxu;
109  using Base::Lxx;
110  using Base::r;
111  using Base::Ru;
112  using Base::Rx;
113  using Base::shared;
114 };
115 
116 } // namespace crocoddyl
117 
118 /* --- Details -------------------------------------------------------------- */
119 /* --- Details -------------------------------------------------------------- */
120 /* --- Details -------------------------------------------------------------- */
121 #include "crocoddyl/multibody/costs/frame-translation.hxx"
122 
123 #endif // CROCODDYL_MULTIBODY_COSTS_FRAME_TRANSLATION_HPP_