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/core/cost-base.hpp" 14 #include "crocoddyl/multibody/states/multibody.hpp" 15 #include "crocoddyl/multibody/contact-base.hpp" 16 #include "crocoddyl/multibody/contacts/contact-3d.hpp" 17 #include "crocoddyl/multibody/contacts/contact-6d.hpp" 18 #include "crocoddyl/multibody/data/contacts.hpp" 19 #include "crocoddyl/multibody/frames.hpp" 20 #include "crocoddyl/core/utils/exception.hpp" 21 #include "crocoddyl/core/utils/deprecate.hpp" 43 template <
typename _Scalar>
46 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
48 typedef _Scalar Scalar;
57 typedef typename MathBase::VectorXs VectorXs;
58 typedef typename MathBase::MatrixXs MatrixXs;
71 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameForce& fref,
72 const std::size_t& nu);
85 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameForce& fref);
99 const std::size_t& nu);
136 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
137 const Eigen::Ref<const VectorXs>& u);
149 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
150 const Eigen::Ref<const VectorXs>& u);
158 virtual boost::shared_ptr<CostDataAbstract>
createData(DataCollectorAbstract*
const data);
160 DEPRECATED(
"Use set_reference<FrameForceTpl<Scalar> >()",
void set_fref(
const FrameForce& fref));
161 DEPRECATED(
"Use get_reference<FrameForceTpl<Scalar> >()",
const FrameForce& get_fref()
const);
183 template <
typename _Scalar>
185 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
187 typedef _Scalar Scalar;
194 typedef typename MathBase::MatrixXs MatrixXs;
196 template <
template <
typename Scalar>
class Model>
198 : Base(model, data), Arr_Ru(model->get_activation()->get_nr(), model->get_state()->get_nv()) {
200 contact_type = ContactUndefined;
205 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorContact");
209 FrameForce fref = model->template get_reference<FrameForce>();
210 const boost::shared_ptr<StateMultibody>& state = boost::static_pointer_cast<StateMultibody>(model->get_state());
211 std::string frame_name = state->get_pinocchio()->frames[fref.id].name;
212 bool found_contact =
false;
213 for (
typename ContactModelMultiple::ContactDataContainer::iterator it = d->contacts->contacts.begin();
214 it != d->contacts->contacts.end(); ++it) {
215 if (it->second->frame == fref.id) {
218 contact_type = Contact3D;
219 if (model->get_activation()->get_nr() != 3) {
220 throw_pretty(
"Domain error: nr isn't defined as 3 in the activation model for the 3d contact in " +
223 found_contact =
true;
224 contact = it->second;
229 contact_type = Contact6D;
230 if (model->get_activation()->get_nr() != 6) {
231 throw_pretty(
"Domain error: nr isn't defined as 6 in the activation model for the 3d contact in " +
234 found_contact =
true;
235 contact = it->second;
238 throw_pretty(
"Domain error: there isn't defined at least a 3d contact for " + frame_name);
242 if (!found_contact) {
243 throw_pretty(
"Domain error: there isn't defined contact data for " + frame_name);
247 boost::shared_ptr<ContactDataAbstractTpl<Scalar> > contact;
249 ContactType contact_type;
250 using Base::activation;
268 #include "crocoddyl/multibody/costs/contact-force.hxx" 270 #endif // CROCODDYL_MULTIBODY_COSTS_CONTACT_FORCE_HPP_ Abstract class for cost models.
boost::shared_ptr< ActivationModelAbstract > activation_
Activation model.
VectorXs unone_
No control vector.
std::size_t nu_
Control dimension.
boost::shared_ptr< StateAbstract > state_
State description.