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/core/cost-base.hpp" 14 #include "crocoddyl/multibody/states/multibody.hpp" 15 #include "crocoddyl/multibody/data/multibody.hpp" 16 #include "crocoddyl/multibody/frames.hpp" 17 #include "crocoddyl/core/utils/exception.hpp" 18 #include "crocoddyl/core/utils/deprecate.hpp" 38 template <
typename _Scalar>
41 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
43 typedef _Scalar Scalar;
52 typedef typename MathBase::VectorXs VectorXs;
53 typedef typename MathBase::Matrix3s Matrix3s;
64 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameRotation& Fref,
65 const std::size_t& nu);
78 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameRotation& Fref);
113 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
114 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);
129 virtual boost::shared_ptr<CostDataAbstract>
createData(DataCollectorAbstract*
const data);
131 DEPRECATED(
"Use set_reference<FrameRotationTpl<Scalar> >()",
void set_Rref(
const FrameRotation& Rref_in));
132 DEPRECATED(
"Use get_reference<FrameRotationTpl<Scalar> >()",
const FrameRotation& get_Rref()
const);
153 boost::shared_ptr<typename StateMultibody::PinocchioModel> pin_model_;
156 template <
typename _Scalar>
158 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
160 typedef _Scalar Scalar;
164 typedef typename MathBase::Vector3s Vector3s;
165 typedef typename MathBase::Matrix3s Matrix3s;
166 typedef typename MathBase::Matrix3xs Matrix3xs;
167 typedef typename MathBase::Matrix6xs Matrix6xs;
169 template <
template <
typename Scalar>
class Model>
172 J(3, model->get_state()->get_nv()),
174 fJf(6, model->get_state()->get_nv()),
175 Arr_J(3, model->get_state()->get_nv()) {
185 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorMultibody");
189 pinocchio = d->pinocchio;
192 pinocchio::DataTpl<Scalar>* pinocchio;
200 using Base::activation;
218 #include "crocoddyl/multibody/costs/frame-rotation.hxx" 220 #endif // CROCODDYL_MULTIBODY_COSTS_FRAME_ROTATION_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 frame rotation cost.
boost::shared_ptr< ActivationModelAbstract > activation_
Activation model.
virtual boost::shared_ptr< CostDataAbstract > createData(DataCollectorAbstract *const data)
Create the frame rotation cost data.
virtual void get_referenceImpl(const std::type_info &ti, void *pv) const
Return the frame rotation reference.
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Modify the frame rotation reference.
VectorXs unone_
No control vector.
std::size_t nu_
Control dimension.
boost::shared_ptr< StateAbstract > state_
State description.
virtual void calc(const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the frame rotation cost.
CostModelFrameRotationTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameRotation &Fref, const std::size_t &nu)
Initialize the frame rotation cost model.