crocoddyl  1.3.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
frame-placement.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_PLACEMENT_HPP_
10 #define CROCODDYL_MULTIBODY_COSTS_FRAME_PLACEMENT_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::MatrixXs MatrixXs;
37 
38  CostModelFramePlacementTpl(boost::shared_ptr<StateMultibody> state,
39  boost::shared_ptr<ActivationModelAbstract> activation, const FramePlacement& Fref,
40  const std::size_t& nu);
41  CostModelFramePlacementTpl(boost::shared_ptr<StateMultibody> state,
42  boost::shared_ptr<ActivationModelAbstract> activation, const FramePlacement& Fref);
43  CostModelFramePlacementTpl(boost::shared_ptr<StateMultibody> state, const FramePlacement& Fref,
44  const std::size_t& nu);
45  CostModelFramePlacementTpl(boost::shared_ptr<StateMultibody> state, const FramePlacement& Fref);
46  virtual ~CostModelFramePlacementTpl();
47 
48  virtual void calc(const boost::shared_ptr<CostDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
49  const Eigen::Ref<const VectorXs>& u);
50  virtual void calcDiff(const boost::shared_ptr<CostDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
51  const Eigen::Ref<const VectorXs>& u);
52  virtual boost::shared_ptr<CostDataAbstract> createData(DataCollectorAbstract* const data);
53 
54  const FramePlacement& get_Mref() const;
55  void set_Mref(const FramePlacement& Mref_in);
56 
57  protected:
58  virtual void set_referenceImpl(const std::type_info& ti, const void* pv);
59  virtual void get_referenceImpl(const std::type_info& ti, void* pv);
60 
61  using Base::activation_;
62  using Base::nu_;
63  using Base::state_;
64  using Base::unone_;
65 
66  private:
67  FramePlacement Mref_;
68  pinocchio::SE3Tpl<Scalar> oMf_inv_;
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::Matrix6xs Matrix6xs;
82  typedef typename MathBase::Matrix6s Matrix6s;
83  typedef typename MathBase::Vector6s Vector6s;
84 
85  template <template <typename Scalar> class Model>
86  CostDataFramePlacementTpl(Model<Scalar>* const model, DataCollectorAbstract* const data)
87  : Base(model, data),
88  J(6, model->get_state()->get_nv()),
89  rJf(6, 6),
90  fJf(6, model->get_state()->get_nv()),
91  Arr_J(6, model->get_state()->get_nv()) {
92  r.setZero();
93  J.setZero();
94  rJf.setZero();
95  fJf.setZero();
96  Arr_J.setZero();
97  // Check that proper shared data has been passed
99  if (d == NULL) {
100  throw_pretty("Invalid argument: the shared data should be derived from DataCollectorMultibody");
101  }
102 
103  // Avoids data casting at runtime
104  pinocchio = d->pinocchio;
105  }
106 
107  pinocchio::DataTpl<Scalar>* pinocchio;
108  Vector6s r;
109  pinocchio::SE3Tpl<Scalar> rMf;
110  Matrix6xs J;
111  Matrix6s rJf;
112  Matrix6xs fJf;
113  Matrix6xs Arr_J;
114 
115  using Base::activation;
116  using Base::cost;
117  using Base::Lu;
118  using Base::Luu;
119  using Base::Lx;
120  using Base::Lxu;
121  using Base::Lxx;
122  using Base::shared;
123  // using Base::r;
124  using Base::Ru;
125  using Base::Rx;
126 };
127 
128 } // namespace crocoddyl
129 
130 /* --- Details -------------------------------------------------------------- */
131 /* --- Details -------------------------------------------------------------- */
132 /* --- Details -------------------------------------------------------------- */
133 #include "crocoddyl/multibody/costs/frame-placement.hxx"
134 
135 #endif // CROCODDYL_MULTIBODY_COSTS_FRAME_PLACEMENT_HPP_