9 #ifndef CROCODDYL_MULTIBODY_COSTS_FRAME_VELOCITY_HPP_ 10 #define CROCODDYL_MULTIBODY_COSTS_FRAME_VELOCITY_HPP_ 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 #include "crocoddyl/core/utils/deprecate.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::Matrix3s Matrix3s;
40 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameMotion& Fref,
41 const std::size_t& nu);
43 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameMotion& Fref);
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);
54 DEPRECATED(
"Use set_reference<FrameMotionTpl<Scalar> >()",
void set_vref(
const FrameMotion& vref_in));
55 DEPRECATED(
"Use get_reference<FrameMotionTpl<Scalar> >()",
const FrameMotion& get_vref()
const);
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)
const;
61 using Base::activation_;
70 template <
typename _Scalar>
72 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
74 typedef _Scalar Scalar;
78 typedef typename MathBase::VectorXs VectorXs;
79 typedef typename MathBase::MatrixXs MatrixXs;
80 typedef typename MathBase::Matrix6xs Matrix6xs;
82 template <
template <
typename Scalar>
class Model>
85 joint(model->get_state()
87 ->frames[model->template get_reference<FrameMotionTpl<Scalar> >().frame]
89 vr(pinocchio::MotionTpl<Scalar>::Zero()),
90 fXj(model->get_state()
92 ->frames[model->template get_reference<FrameMotionTpl<Scalar> >().frame]
95 dv_dq(6, model->get_state()->get_nv()),
96 dv_dv(6, model->get_state()->get_nv()),
97 Arr_Rx(6, model->get_state()->get_nv()) {
104 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorMultibody");
108 pinocchio = d->pinocchio;
111 pinocchio::DataTpl<Scalar>* pinocchio;
112 pinocchio::JointIndex joint;
113 pinocchio::MotionTpl<Scalar> vr;
114 typename pinocchio::SE3Tpl<Scalar>::ActionMatrixType fXj;
119 using Base::activation;
137 #include "crocoddyl/multibody/costs/frame-velocity.hxx" 139 #endif // CROCODDYL_MULTIBODY_COSTS_FRAME_VELOCITY_HPP_