9 #ifndef CROCODDYL_MULTIBODY_COSTS_CONTACT_FORCE_HPP_ 10 #define CROCODDYL_MULTIBODY_COSTS_CONTACT_FORCE_HPP_ 12 #include "crocoddyl/multibody/fwd.hpp" 13 #include "crocoddyl/multibody/cost-base.hpp" 14 #include "crocoddyl/multibody/contact-base.hpp" 15 #include "crocoddyl/multibody/contacts/contact-3d.hpp" 16 #include "crocoddyl/multibody/contacts/contact-6d.hpp" 17 #include "crocoddyl/multibody/data/contacts.hpp" 18 #include "crocoddyl/multibody/frames.hpp" 19 #include "crocoddyl/core/utils/exception.hpp" 20 #include "crocoddyl/core/utils/deprecate.hpp" 44 template <
typename _Scalar>
47 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
49 typedef _Scalar Scalar;
59 typedef typename MathBase::Vector6s Vector6s;
60 typedef typename MathBase::VectorXs VectorXs;
61 typedef typename MathBase::MatrixXs MatrixXs;
75 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameForce& fref,
76 const std::size_t& nu);
90 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameForce& fref);
105 const std::size_t& nu);
143 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
144 const Eigen::Ref<const VectorXs>& u);
156 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
157 const Eigen::Ref<const VectorXs>& u);
168 virtual boost::shared_ptr<CostDataAbstract>
createData(DataCollectorAbstract*
const data);
170 DEPRECATED(
"Use set_reference<FrameForceTpl<Scalar> >()",
void set_fref(
const FrameForce& fref));
171 DEPRECATED(
"Use get_reference<FrameForceTpl<Scalar> >()",
const FrameForce& get_fref()
const);
186 using Base::activation_;
196 template <
typename _Scalar>
198 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
200 typedef _Scalar Scalar;
206 typedef typename MathBase::VectorXs VectorXs;
207 typedef typename MathBase::MatrixXs MatrixXs;
208 typedef typename MathBase::Matrix6xs Matrix6xs;
210 template <
template <
typename Scalar>
class Model>
212 : Base(model, data), Arr_Ru(model->get_activation()->get_nr(), model->get_state()->get_nv()) {
214 contact_type = ContactUndefined;
219 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorContact");
223 FrameForce fref = model->template get_reference<FrameForce>();
224 std::string frame_name = model->get_state()->get_pinocchio()->frames[fref.id].name;
225 bool found_contact =
false;
226 for (
typename ContactModelMultiple::ContactDataContainer::iterator it = d->contacts->contacts.begin();
227 it != d->contacts->contacts.end(); ++it) {
228 if (it->second->frame == fref.id) {
231 contact_type = Contact3D;
232 if (model->get_activation()->get_nr() != 3) {
233 throw_pretty(
"Domain error: nr isn't defined as 3 in the activation model for the 3d contact in " +
236 found_contact =
true;
237 contact = it->second;
242 contact_type = Contact6D;
243 if (model->get_activation()->get_nr() != 6) {
244 throw_pretty(
"Domain error: nr isn't defined as 6 in the activation model for the 3d contact in " +
247 found_contact =
true;
248 contact = it->second;
251 throw_pretty(
"Domain error: there isn't defined at least a 3d contact for " + frame_name);
255 if (!found_contact) {
256 throw_pretty(
"Domain error: there isn't defined contact data for " + frame_name);
260 boost::shared_ptr<ContactDataAbstractTpl<Scalar> > contact;
262 ContactType contact_type;
263 using Base::activation;
281 #include "crocoddyl/multibody/costs/contact-force.hxx" 283 #endif // CROCODDYL_MULTIBODY_COSTS_CONTACT_FORCE_HPP_