9 #ifndef CROCODDYL_MULTIBODY_COSTS_MOMENTUM_HPP_ 10 #define CROCODDYL_MULTIBODY_COSTS_MOMENTUM_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/data/multibody.hpp" 16 #include "crocoddyl/core/utils/exception.hpp" 17 #include "crocoddyl/core/utils/deprecate.hpp" 37 template <
typename _Scalar>
40 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
42 typedef _Scalar Scalar;
50 typedef typename MathBase::Vector6s Vector6s;
51 typedef typename MathBase::VectorXs VectorXs;
52 typedef typename MathBase::Matrix6xs Matrix6xs;
63 boost::shared_ptr<ActivationModelAbstract> activation,
const Vector6s& mref,
64 const std::size_t& nu);
76 boost::shared_ptr<ActivationModelAbstract> activation,
const Vector6s& mref);
108 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
109 const Eigen::Ref<const VectorXs>& u);
118 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
119 const Eigen::Ref<const VectorXs>& u);
124 virtual boost::shared_ptr<CostDataAbstract>
createData(DataCollectorAbstract*
const data);
126 DEPRECATED(
"Use set_reference<MathBaseTpl<Scalar>::Vector6s>()",
void set_href(
const Vector6s& mref_in));
127 DEPRECATED(
"Use get_reference<MathBaseTpl<Scalar>::Vector6s>()",
const Vector6s& get_href()
const);
147 boost::shared_ptr<typename StateMultibody::PinocchioModel> pin_model_;
150 template <
typename _Scalar>
152 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
154 typedef _Scalar Scalar;
158 typedef typename MathBase::Matrix6xs Matrix6xs;
160 template <
template <
typename Scalar>
class Model>
162 : Base(model, data), dhd_dq(6, model->get_state()->get_nv()), dhd_dv(6, model->get_state()->get_nv()) {
169 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorMultibody");
173 pinocchio = d->pinocchio;
176 pinocchio::DataTpl<Scalar>* pinocchio;
180 using Base::activation;
198 #include "crocoddyl/multibody/costs/centroidal-momentum.hxx" 200 #endif // CROCODDYL_MULTIBODY_COSTS_MOMENTUM_HPP_ Centroidal momentum cost.
Abstract class for cost models.
CostModelCentroidalMomentumTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const Vector6s &mref, const std::size_t &nu)
Initialize the centroidal momentum cost model.
virtual void get_referenceImpl(const std::type_info &ti, void *pv) const
Return the centroidal momentum reference.
boost::shared_ptr< ActivationModelAbstract > activation_
Activation model.
virtual boost::shared_ptr< CostDataAbstract > createData(DataCollectorAbstract *const data)
Create the centroidal momentum cost data.
virtual void calc(const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the centroidal momentum cost.
VectorXs unone_
No control vector.
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 centroidal momentum cost.
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Modify the centroidal momentum reference.
std::size_t nu_
Control dimension.
boost::shared_ptr< StateAbstract > state_
State description.