9 #ifndef CROCODDYL_MULTIBODY_COSTS_IMPULSE_COM_HPP_ 10 #define CROCODDYL_MULTIBODY_COSTS_IMPULSE_COM_HPP_ 12 #include "crocoddyl/multibody/fwd.hpp" 13 #include "crocoddyl/multibody/cost-base.hpp" 14 #include "crocoddyl/multibody/impulse-base.hpp" 15 #include "crocoddyl/multibody/data/impulses.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;
35 typedef typename MathBase::Vector3s Vector3s;
36 typedef typename MathBase::VectorXs VectorXs;
37 typedef typename MathBase::MatrixXs MatrixXs;
40 boost::shared_ptr<ActivationModelAbstract> activation);
44 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
45 const Eigen::Ref<const VectorXs>& u);
46 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
47 const Eigen::Ref<const VectorXs>& u);
48 virtual boost::shared_ptr<CostDataAbstract> createData(DataCollectorAbstract*
const data);
51 using Base::activation_;
57 template <
typename _Scalar>
59 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
61 typedef _Scalar Scalar;
65 typedef typename MathBase::VectorXs VectorXs;
66 typedef typename MathBase::MatrixXs MatrixXs;
67 typedef typename MathBase::Matrix3xs Matrix3xs;
68 typedef typename MathBase::Matrix6xs Matrix6xs;
69 typedef typename MathBase::Matrix6s Matrix6s;
70 typedef typename MathBase::Vector6s Vector6s;
72 template <
template <
typename Scalar>
class Model>
75 Arr_Rx(3, model->get_state()->get_nv()),
76 dvc_dq(3, model->get_state()->get_nv()),
77 ddv_dv(model->get_state()->get_nv(), model->get_state()->get_nv()),
78 pinocchio_internal(pinocchio::DataTpl<Scalar>(*model->get_state()->get_pinocchio().get())) {
85 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorMultibodyInImpulse");
87 pinocchio = d->pinocchio;
88 impulses = d->impulses;
91 pinocchio::DataTpl<Scalar>* pinocchio;
92 boost::shared_ptr<crocoddyl::ImpulseDataMultipleTpl<Scalar> > impulses;
96 pinocchio::DataTpl<Scalar> pinocchio_internal;
97 using Base::activation;
115 #include "crocoddyl/multibody/costs/impulse-com.hxx" 117 #endif // CROCODDYL_MULTIBODY_COSTS_IMPULSE_COM_HPP_