crocoddyl  1.3.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
frame-rotation.hpp
1 // BSD 3-Clause License
3 //
4 // Copyright (C) 2018-2020, LAAS-CNRS, University of Edinburgh
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
8 
9 #ifndef CROCODDYL_MULTIBODY_COSTS_FRAME_ROTATION_HPP_
10 #define CROCODDYL_MULTIBODY_COSTS_FRAME_ROTATION_HPP_
11 
12 #include "crocoddyl/multibody/fwd.hpp"
13 #include "crocoddyl/multibody/cost-base.hpp"
14 #include "crocoddyl/multibody/data/multibody.hpp"
15 #include "crocoddyl/multibody/frames.hpp"
16 #include "crocoddyl/core/utils/exception.hpp"
17 
18 namespace crocoddyl {
19 
20 template <typename _Scalar>
22  public:
23  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
24 
25  typedef _Scalar Scalar;
35  typedef typename MathBase::VectorXs VectorXs;
36  typedef typename MathBase::Matrix3s Matrix3s;
37 
38  CostModelFrameRotationTpl(boost::shared_ptr<StateMultibody> state,
39  boost::shared_ptr<ActivationModelAbstract> activation, const FrameRotation& Fref,
40  const std::size_t& nu);
41  CostModelFrameRotationTpl(boost::shared_ptr<StateMultibody> state,
42  boost::shared_ptr<ActivationModelAbstract> activation, const FrameRotation& Fref);
43  CostModelFrameRotationTpl(boost::shared_ptr<StateMultibody> state, const FrameRotation& Fref, const std::size_t& nu);
44  CostModelFrameRotationTpl(boost::shared_ptr<StateMultibody> state, const FrameRotation& Fref);
45  virtual ~CostModelFrameRotationTpl();
46 
47  virtual void calc(const boost::shared_ptr<CostDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
48  const Eigen::Ref<const VectorXs>& u);
49  virtual void calcDiff(const boost::shared_ptr<CostDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
50  const Eigen::Ref<const VectorXs>& u);
51  virtual boost::shared_ptr<CostDataAbstract> createData(DataCollectorAbstract* const data);
52 
53  const FrameRotation& get_Rref() const;
54  void set_Rref(const FrameRotation& Rref_in);
55 
56  protected:
57  virtual void set_referenceImpl(const std::type_info& ti, const void* pv);
58  virtual void get_referenceImpl(const std::type_info& ti, void* pv);
59 
60  using Base::activation_;
61  using Base::nu_;
62  using Base::state_;
63  using Base::unone_;
64 
65  private:
66  FrameRotation Rref_;
67  Matrix3s oRf_inv_;
68 };
69 
70 template <typename _Scalar>
72  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
73 
74  typedef _Scalar Scalar;
78  typedef typename MathBase::Vector3s Vector3s;
79  typedef typename MathBase::Matrix3s Matrix3s;
80  typedef typename MathBase::VectorXs VectorXs;
81  typedef typename MathBase::MatrixXs MatrixXs;
82  typedef typename MathBase::Matrix3xs Matrix3xs;
83  typedef typename MathBase::Matrix6xs Matrix6xs;
84 
85  template <template <typename Scalar> class Model>
86  CostDataFrameRotationTpl(Model<Scalar>* const model, DataCollectorAbstract* const data)
87  : Base(model, data),
88  J(3, model->get_state()->get_nv()),
89  rJf(3, 3),
90  fJf(6, model->get_state()->get_nv()),
91  Arr_J(3, model->get_state()->get_nv()) {
92  r.setZero();
93  rRf.setIdentity();
94  J.setZero();
95  rJf.setZero();
96  fJf.setZero();
97  Arr_J.setZero();
98  // Check that proper shared data has been passed
100  if (d == NULL) {
101  throw_pretty("Invalid argument: the shared data should be derived from DataCollectorMultibody");
102  }
103 
104  // Avoids data casting at runtime
105  pinocchio = d->pinocchio;
106  }
107 
108  pinocchio::DataTpl<Scalar>* pinocchio;
109  Vector3s r;
110  Matrix3s rRf;
111  Matrix3xs J;
112  Matrix3s rJf;
113  Matrix6xs fJf;
114  Matrix3xs Arr_J;
115 
116  using Base::activation;
117  using Base::cost;
118  using Base::Lu;
119  using Base::Luu;
120  using Base::Lx;
121  using Base::Lxu;
122  using Base::Lxx;
123  using Base::shared;
124  // using Base::r;
125  using Base::Ru;
126  using Base::Rx;
127 };
128 
129 } // namespace crocoddyl
130 
131 /* --- Details -------------------------------------------------------------- */
132 /* --- Details -------------------------------------------------------------- */
133 /* --- Details -------------------------------------------------------------- */
134 #include "crocoddyl/multibody/costs/frame-rotation.hxx"
135 
136 #endif // CROCODDYL_MULTIBODY_COSTS_FRAME_ROTATION_HPP_