crocoddyl  1.5.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
frame-velocity.hpp
1 // BSD 3-Clause License
3 //
4 // Copyright (C) 2018-2020, LAAS-CNRS, University of Edinburgh
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
8 
9 #ifndef CROCODDYL_MULTIBODY_COSTS_FRAME_VELOCITY_HPP_
10 #define CROCODDYL_MULTIBODY_COSTS_FRAME_VELOCITY_HPP_
11 
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"
18 
19 namespace crocoddyl {
20 
21 template <typename _Scalar>
23  public:
24  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
25 
26  typedef _Scalar Scalar;
36  typedef typename MathBase::VectorXs VectorXs;
37  typedef typename MathBase::Matrix3s Matrix3s;
38 
39  CostModelFrameVelocityTpl(boost::shared_ptr<StateMultibody> state,
40  boost::shared_ptr<ActivationModelAbstract> activation, const FrameMotion& Fref,
41  const std::size_t& nu);
42  CostModelFrameVelocityTpl(boost::shared_ptr<StateMultibody> state,
43  boost::shared_ptr<ActivationModelAbstract> activation, const FrameMotion& Fref);
44  CostModelFrameVelocityTpl(boost::shared_ptr<StateMultibody> state, const FrameMotion& vref, const std::size_t& nu);
45  CostModelFrameVelocityTpl(boost::shared_ptr<StateMultibody> state, const FrameMotion& vref);
46  virtual ~CostModelFrameVelocityTpl();
47 
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);
53 
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);
56 
57  protected:
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;
60 
61  using Base::activation_;
62  using Base::nu_;
63  using Base::state_;
64  using Base::unone_;
65 
66  private:
67  FrameMotion vref_;
68 };
69 
70 template <typename _Scalar>
72  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
73 
74  typedef _Scalar Scalar;
78  typedef typename MathBase::VectorXs VectorXs;
79  typedef typename MathBase::MatrixXs MatrixXs;
80  typedef typename MathBase::Matrix6xs Matrix6xs;
81 
82  template <template <typename Scalar> class Model>
83  CostDataFrameVelocityTpl(Model<Scalar>* const model, DataCollectorAbstract* const data)
84  : Base(model, data), Arr_Rx(6, model->get_state()->get_nv()) {
85  Arr_Rx.setZero();
86  // Check that proper shared data has been passed
88  if (d == NULL) {
89  throw_pretty("Invalid argument: the shared data should be derived from DataCollectorMultibody");
90  }
91 
92  // Avoids data casting at runtime
93  pinocchio = d->pinocchio;
94  }
95 
96  pinocchio::DataTpl<Scalar>* pinocchio;
97  Matrix6xs Arr_Rx;
98 
99  using Base::activation;
100  using Base::cost;
101  using Base::Lu;
102  using Base::Luu;
103  using Base::Lx;
104  using Base::Lxu;
105  using Base::Lxx;
106  using Base::r;
107  using Base::Ru;
108  using Base::Rx;
109  using Base::shared;
110 };
111 
112 } // namespace crocoddyl
113 
114 /* --- Details -------------------------------------------------------------- */
115 /* --- Details -------------------------------------------------------------- */
116 /* --- Details -------------------------------------------------------------- */
117 #include "crocoddyl/multibody/costs/frame-velocity.hxx"
118 
119 #endif // CROCODDYL_MULTIBODY_COSTS_FRAME_VELOCITY_HPP_