9 #ifndef CROCODDYL_MULTIBODY_COSTS_COM_POSITION_HPP_ 10 #define CROCODDYL_MULTIBODY_COSTS_COM_POSITION_HPP_ 12 #include "crocoddyl/multibody/fwd.hpp" 13 #include "crocoddyl/multibody/cost-base.hpp" 14 #include "crocoddyl/multibody/data/multibody.hpp" 15 #include "crocoddyl/core/utils/exception.hpp" 16 #include "crocoddyl/core/utils/deprecate.hpp" 20 template <
typename _Scalar>
23 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
25 typedef _Scalar Scalar;
34 typedef typename MathBase::Vector3s Vector3s;
35 typedef typename MathBase::VectorXs VectorXs;
36 typedef typename MathBase::MatrixXs MatrixXs;
39 boost::shared_ptr<ActivationModelAbstract> activation,
const Vector3s& cref,
40 const std::size_t& nu);
42 boost::shared_ptr<ActivationModelAbstract> activation,
const Vector3s& cref);
47 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
48 const Eigen::Ref<const VectorXs>& u);
49 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
50 const Eigen::Ref<const VectorXs>& u);
51 virtual boost::shared_ptr<CostDataAbstract> createData(DataCollectorAbstract*
const data);
53 DEPRECATED(
"Use set_reference<MathBaseTpl<Scalar>::Vector3s>()",
void set_cref(
const Vector3s& cref_in));
54 DEPRECATED(
"Use get_reference<MathBaseTpl<Scalar>::Vector3s>()",
const Vector3s& get_cref()
const);
57 virtual void set_referenceImpl(
const std::type_info& ti,
const void* pv);
58 virtual void get_referenceImpl(
const std::type_info& ti,
void* pv)
const;
60 using Base::activation_;
69 template <
typename _Scalar>
71 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
73 typedef _Scalar Scalar;
77 typedef typename MathBase::VectorXs VectorXs;
78 typedef typename MathBase::MatrixXs MatrixXs;
79 typedef typename MathBase::Matrix3xs Matrix3xs;
80 typedef typename MathBase::Matrix6xs Matrix6xs;
81 typedef typename MathBase::Matrix6s Matrix6s;
82 typedef typename MathBase::Vector6s Vector6s;
84 template <
template <
typename Scalar>
class Model>
86 : Base(model, data), Arr_Jcom(3, model->get_state()->get_nv()) {
91 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorMultibody");
95 pinocchio = d->pinocchio;
98 pinocchio::DataTpl<Scalar>* pinocchio;
101 using Base::activation;
119 #include "crocoddyl/multibody/costs/com-position.hxx" 121 #endif // CROCODDYL_MULTIBODY_COSTS_COM_POSITION_HPP_