9 #ifndef CROCODDYL_MULTIBODY_COSTS_IMPULSE_COP_POSITION_HPP_ 10 #define CROCODDYL_MULTIBODY_COSTS_IMPULSE_COP_POSITION_HPP_ 12 #include "crocoddyl/multibody/fwd.hpp" 13 #include "crocoddyl/core/cost-base.hpp" 14 #include "crocoddyl/multibody/states/multibody.hpp" 15 #include "crocoddyl/multibody/impulse-base.hpp" 16 #include "crocoddyl/multibody/impulses/impulse-3d.hpp" 17 #include "crocoddyl/multibody/impulses/impulse-6d.hpp" 18 #include "crocoddyl/multibody/data/impulses.hpp" 19 #include "crocoddyl/multibody/frames.hpp" 20 #include "crocoddyl/multibody/data/multibody.hpp" 21 #include "crocoddyl/core/activations/quadratic-barrier.hpp" 22 #include "crocoddyl/core/utils/exception.hpp" 57 template <
typename _Scalar>
60 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
62 typedef _Scalar Scalar;
73 typedef typename MathBase::VectorXs VectorXs;
74 typedef typename MathBase::MatrixXs MatrixXs;
75 typedef Eigen::Matrix<Scalar, 4, 6> Matrix46;
85 boost::shared_ptr<ActivationModelAbstract> activation,
86 const FrameCoPSupport& cop_support);
110 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
111 const Eigen::Ref<const VectorXs>& u);
123 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
124 const Eigen::Ref<const VectorXs>& u);
135 virtual boost::shared_ptr<CostDataAbstract>
createData(DataCollectorAbstract*
const data);
153 FrameCoPSupport cop_support_;
156 template <
typename _Scalar>
158 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
160 typedef _Scalar Scalar;
167 typedef typename MathBase::MatrixXs MatrixXs;
169 template <
template <
typename Scalar>
class Model>
171 : Base(model, data), Arr_Ru(model->get_activation()->get_nr(), model->get_state()->get_nv()) {
177 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorImpulse");
181 FrameCoPSupport cop_support = model->template get_reference<FrameCoPSupport>();
182 const boost::shared_ptr<StateMultibody>& state = boost::static_pointer_cast<StateMultibody>(model->get_state());
183 std::string frame_name = state->get_pinocchio()->frames[cop_support.get_id()].name;
184 bool found_impulse =
false;
185 for (
typename ImpulseModelMultiple::ImpulseDataContainer::iterator it = d->impulses->impulses.begin();
186 it != d->impulses->impulses.end(); ++it) {
187 if (it->second->frame == cop_support.get_id()) {
190 throw_pretty(
"Domain error: a 6d impulse model is required in " + frame_name +
191 "in order to compute the CoP");
196 found_impulse =
true;
197 impulse = it->second;
202 if (!found_impulse) {
203 throw_pretty(
"Domain error: there isn't defined impulse data for " + frame_name);
207 pinocchio::DataTpl<Scalar>* pinocchio;
209 boost::shared_ptr<ImpulseDataAbstractTpl<Scalar> >
impulse;
210 using Base::activation;
228 #include "crocoddyl/multibody/costs/impulse-cop-position.hxx" 230 #endif // CROCODDYL_MULTIBODY_COSTS_IMPULSE_COP_POSITION_HPP_ Abstract class for cost models.
virtual void calcDiff(const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the derivatives of the impulse CoP cost.
boost::shared_ptr< ImpulseDataAbstractTpl< Scalar > > impulse
impulse force
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Return the frame CoP support.
boost::shared_ptr< ActivationModelAbstract > activation_
Activation model.
virtual boost::shared_ptr< CostDataAbstract > createData(DataCollectorAbstract *const data)
Create the impulse CoP cost data.
virtual void get_referenceImpl(const std::type_info &ti, void *pv) const
Modify the frame CoP support.
Define a stack of impulse models.
virtual void calc(const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the impulse CoP cost.
std::size_t nu_
Control dimension.
boost::shared_ptr< StateAbstract > state_
State description.
CostModelImpulseCoPPositionTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameCoPSupport &cop_support)
Initialize the impulse CoP cost model.
Define a center of pressure cost function.