10 #ifndef CROCODDYL_MULTIBODY_COSTS_FRAME_TRANSLATION_HPP_ 11 #define CROCODDYL_MULTIBODY_COSTS_FRAME_TRANSLATION_HPP_ 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" 21 template <
typename _Scalar>
24 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
26 typedef _Scalar Scalar;
36 typedef typename MathBase::VectorXs VectorXs;
37 typedef typename MathBase::MatrixXs MatrixXs;
40 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameTranslation& xref,
41 const std::size_t& nu);
43 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameTranslation& xref);
45 const std::size_t& nu);
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);
55 const FrameTranslation& get_xref()
const;
56 void set_xref(
const FrameTranslation& xref_in);
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);
62 using Base::activation_;
68 FrameTranslation xref_;
71 template <
typename _Scalar>
73 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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;
84 template <
template <
typename Scalar>
class Model>
86 : Base(model, data), J(3, model->get_state()->get_nv()), fJf(6, model->get_state()->get_nv()) {
92 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorMultibody");
96 pinocchio = d->pinocchio;
99 pinocchio::DataTpl<Scalar>* pinocchio;
103 using Base::activation;
121 #include "crocoddyl/multibody/costs/frame-translation.hxx" 123 #endif // CROCODDYL_MULTIBODY_COSTS_FRAME_TRANSLATION_HPP_