9 #ifndef CROCODDYL_MULTIBODY_COSTS_FRAME_ROTATION_HPP_ 10 #define CROCODDYL_MULTIBODY_COSTS_FRAME_ROTATION_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 FrameRotation& Fref,
41 const std::size_t& nu);
43 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameRotation& 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<FrameRotationTpl<Scalar> >()",
void set_Rref(
const FrameRotation& Rref_in));
55 DEPRECATED(
"Use get_reference<FrameRotationTpl<Scalar> >()",
const FrameRotation& get_Rref()
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_;
71 template <
typename _Scalar>
73 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
75 typedef _Scalar Scalar;
79 typedef typename MathBase::Vector3s Vector3s;
80 typedef typename MathBase::Matrix3s Matrix3s;
81 typedef typename MathBase::VectorXs VectorXs;
82 typedef typename MathBase::MatrixXs MatrixXs;
83 typedef typename MathBase::Matrix3xs Matrix3xs;
84 typedef typename MathBase::Matrix6xs Matrix6xs;
86 template <
template <
typename Scalar>
class Model>
89 J(3, model->get_state()->get_nv()),
91 fJf(6, model->get_state()->get_nv()),
92 Arr_J(3, model->get_state()->get_nv()) {
102 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorMultibody");
106 pinocchio = d->pinocchio;
109 pinocchio::DataTpl<Scalar>* pinocchio;
117 using Base::activation;
135 #include "crocoddyl/multibody/costs/frame-rotation.hxx" 137 #endif // CROCODDYL_MULTIBODY_COSTS_FRAME_ROTATION_HPP_