9 #ifndef CROCODDYL_MULTIBODY_IMPULSE_BASE_HPP_ 10 #define CROCODDYL_MULTIBODY_IMPULSE_BASE_HPP_ 12 #include <pinocchio/multibody/data.hpp> 13 #include <pinocchio/spatial/force.hpp> 15 #include "crocoddyl/multibody/fwd.hpp" 16 #include "crocoddyl/multibody/states/multibody.hpp" 17 #include "crocoddyl/core/utils/to-string.hpp" 21 template <
typename _Scalar>
22 class ImpulseModelAbstractTpl {
24 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
26 typedef _Scalar Scalar;
27 typedef MathBaseTpl<Scalar> MathBase;
28 typedef ImpulseDataAbstractTpl<Scalar> ImpulseDataAbstract;
29 typedef StateMultibodyTpl<Scalar> StateMultibody;
30 typedef typename MathBase::VectorXs VectorXs;
31 typedef typename MathBase::MatrixXs MatrixXs;
33 ImpulseModelAbstractTpl(boost::shared_ptr<StateMultibody> state,
const std::size_t& ni);
34 virtual ~ImpulseModelAbstractTpl();
36 virtual void calc(
const boost::shared_ptr<ImpulseDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x) = 0;
37 virtual void calcDiff(
const boost::shared_ptr<ImpulseDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x) = 0;
39 virtual void updateForce(
const boost::shared_ptr<ImpulseDataAbstract>& data,
const VectorXs& force) = 0;
40 void updateForceDiff(
const boost::shared_ptr<ImpulseDataAbstract>& data,
const MatrixXs& df_dx)
const;
42 virtual boost::shared_ptr<ImpulseDataAbstract> createData(pinocchio::DataTpl<Scalar>*
const data);
44 const boost::shared_ptr<StateMultibody>& get_state()
const;
45 const std::size_t& get_ni()
const;
48 boost::shared_ptr<StateMultibody> state_;
52 template <
typename _Scalar>
53 struct ImpulseDataAbstractTpl {
54 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
56 typedef _Scalar Scalar;
57 typedef MathBaseTpl<Scalar> MathBase;
58 typedef typename MathBase::VectorXs VectorXs;
59 typedef typename MathBase::MatrixXs MatrixXs;
61 template <
template <
typename Scalar>
class Model>
62 ImpulseDataAbstractTpl(Model<Scalar>*
const model, pinocchio::DataTpl<Scalar>*
const data)
66 jMf(pinocchio::SE3Tpl<Scalar>::Identity()),
67 Jc(model->get_ni(), model->get_state()->get_nv()),
68 dv0_dq(model->get_ni(), model->get_state()->get_nv()),
69 f(pinocchio::ForceTpl<Scalar>::Zero()),
70 df_dx(model->get_ni(), model->get_state()->get_ndx()) {
75 virtual ~ImpulseDataAbstractTpl() {}
77 pinocchio::DataTpl<Scalar>* pinocchio;
78 pinocchio::JointIndex joint;
79 pinocchio::FrameIndex frame;
80 typename pinocchio::SE3Tpl<Scalar> jMf;
83 pinocchio::ForceTpl<Scalar> f;
92 #include "crocoddyl/multibody/impulse-base.hxx" 94 #endif // CROCODDYL_MULTIBODY_IMPULSE_BASE_HPP_