9 #ifndef CROCODDYL_MULTIBODY_COSTS_IMPULSE_FRICTION_CONE_HPP_ 10 #define CROCODDYL_MULTIBODY_COSTS_IMPULSE_FRICTION_CONE_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/impulses/impulse-3d.hpp" 16 #include "crocoddyl/multibody/impulses/impulse-6d.hpp" 17 #include "crocoddyl/multibody/data/impulses.hpp" 18 #include "crocoddyl/multibody/frames.hpp" 19 #include "crocoddyl/multibody/friction-cone.hpp" 20 #include "crocoddyl/core/utils/exception.hpp" 21 #include "crocoddyl/core/utils/deprecate.hpp" 25 template <
typename _Scalar>
28 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
30 typedef _Scalar Scalar;
42 typedef typename MathBase::Vector6s Vector6s;
43 typedef typename MathBase::VectorXs VectorXs;
44 typedef typename MathBase::MatrixXs MatrixXs;
45 typedef typename MathBase::MatrixX3s MatrixX3s;
48 boost::shared_ptr<ActivationModelAbstract> activation,
49 const FrameFrictionCone& fref);
53 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
54 const Eigen::Ref<const VectorXs>& u);
55 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
56 const Eigen::Ref<const VectorXs>& u);
57 virtual boost::shared_ptr<CostDataAbstract> createData(DataCollectorAbstract*
const data);
59 DEPRECATED(
"Use set_reference<FrameFrictionConeTpl<Scalar> >()",
void set_fref(
const FrameFrictionCone& fref));
60 DEPRECATED(
"Use get_reference<FrameFrictionConeTpl<Scalar> >()",
const FrameFrictionCone& get_fref()
const);
63 virtual void set_referenceImpl(
const std::type_info& ti,
const void* pv);
64 virtual void get_referenceImpl(
const std::type_info& ti,
void* pv)
const;
66 using Base::activation_;
71 FrameFrictionCone fref_;
74 template <
typename _Scalar>
76 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
78 typedef _Scalar Scalar;
84 typedef typename MathBase::VectorXs VectorXs;
85 typedef typename MathBase::MatrixXs MatrixXs;
86 typedef typename MathBase::Matrix6xs Matrix6xs;
88 template <
template <
typename Scalar>
class Model>
90 : Base(model, data), more_than_3_constraints(
false) {
94 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorImpulse");
98 FrameFrictionCone fref = model->template get_reference<FrameFrictionCone>();
99 std::string frame_name = model->get_state()->get_pinocchio()->frames[fref.id].name;
100 bool found_impulse =
false;
101 for (
typename ImpulseModelMultiple::ImpulseDataContainer::iterator it = d->impulses->impulses.begin();
102 it != d->impulses->impulses.end(); ++it) {
103 if (it->second->frame == fref.id) {
106 found_impulse =
true;
107 impulse = it->second;
112 more_than_3_constraints =
true;
113 found_impulse =
true;
114 impulse = it->second;
117 throw_pretty(
"Domain error: there isn't defined at least a 3d impulse for " + frame_name);
121 if (!found_impulse) {
122 throw_pretty(
"Domain error: there isn't defined impulse data for " + frame_name);
126 boost::shared_ptr<ImpulseDataAbstractTpl<Scalar> > impulse;
127 bool more_than_3_constraints;
128 using Base::activation;
142 #include "crocoddyl/multibody/costs/impulse-friction-cone.hxx" 144 #endif // CROCODDYL_MULTIBODY_COSTS_IMPULSE_FRICTION_CONE_HPP_
Define a stack of impulse models.