10 #ifndef CROCODDYL_MULTIBODY_COSTS_FRAME_TRANSLATION_HPP_ 11 #define CROCODDYL_MULTIBODY_COSTS_FRAME_TRANSLATION_HPP_ 13 #include "crocoddyl/multibody/fwd.hpp" 14 #include "crocoddyl/core/cost-base.hpp" 15 #include "crocoddyl/multibody/states/multibody.hpp" 16 #include "crocoddyl/multibody/data/multibody.hpp" 17 #include "crocoddyl/multibody/frames.hpp" 18 #include "crocoddyl/core/utils/exception.hpp" 19 #include "crocoddyl/core/utils/deprecate.hpp" 39 template <
typename _Scalar>
42 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
44 typedef _Scalar Scalar;
53 typedef typename MathBase::VectorXs VectorXs;
64 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameTranslation& xref,
65 const std::size_t& nu);
77 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameTranslation& xref);
89 const std::size_t& nu);
110 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
111 const Eigen::Ref<const VectorXs>& u);
120 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
121 const Eigen::Ref<const VectorXs>& u);
126 virtual boost::shared_ptr<CostDataAbstract>
createData(DataCollectorAbstract*
const data);
128 DEPRECATED(
"Use set_reference<FrameTranslation<Scalar> >()",
void set_xref(
const FrameTranslation& xref_in));
129 DEPRECATED(
"Use get_reference<FrameTranslation<Scalar> >()",
const FrameTranslation& get_xref()
const);
148 FrameTranslation xref_;
149 boost::shared_ptr<typename StateMultibody::PinocchioModel> pin_model_;
152 template <
typename _Scalar>
154 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
156 typedef _Scalar Scalar;
160 typedef typename MathBase::Matrix3xs Matrix3xs;
161 typedef typename MathBase::Matrix6xs Matrix6xs;
163 template <
template <
typename Scalar>
class Model>
165 : Base(model, data), J(3, model->get_state()->get_nv()), fJf(6, model->get_state()->get_nv()) {
171 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorMultibody");
175 pinocchio = d->pinocchio;
178 pinocchio::DataTpl<Scalar>* pinocchio;
182 using Base::activation;
200 #include "crocoddyl/multibody/costs/frame-translation.hxx" 202 #endif // CROCODDYL_MULTIBODY_COSTS_FRAME_TRANSLATION_HPP_
Abstract class for cost models.
virtual void calc(const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the frame translation cost.
virtual void get_referenceImpl(const std::type_info &ti, void *pv) const
Return the frame translation reference.
boost::shared_ptr< ActivationModelAbstract > activation_
Activation model.
virtual boost::shared_ptr< CostDataAbstract > createData(DataCollectorAbstract *const data)
Create the frame translation cost data.
CostModelFrameTranslationTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameTranslation &xref, const std::size_t &nu)
Initialize the frame translation cost model.
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 translation cost.
VectorXs unone_
No control vector.
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Modify the frame translation reference.
std::size_t nu_
Control dimension.
boost::shared_ptr< StateAbstract > state_
State description.