9 #ifndef CROCODDYL_MULTIBODY_COSTS_IMPULSE_FRICTION_CONE_HPP_ 10 #define CROCODDYL_MULTIBODY_COSTS_IMPULSE_FRICTION_CONE_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/friction-cone.hpp" 21 #include "crocoddyl/core/utils/exception.hpp" 22 #include "crocoddyl/core/utils/deprecate.hpp" 48 template <
typename _Scalar>
51 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
53 typedef _Scalar Scalar;
62 typedef typename MathBase::VectorXs VectorXs;
63 typedef typename MathBase::MatrixXs MatrixXs;
64 typedef typename MathBase::MatrixX3s MatrixX3s;
74 boost::shared_ptr<ActivationModelAbstract> activation,
75 const FrameFrictionCone& fref);
95 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
96 const Eigen::Ref<const VectorXs>& u);
105 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
106 const Eigen::Ref<const VectorXs>& u);
111 virtual boost::shared_ptr<CostDataAbstract>
createData(DataCollectorAbstract*
const data);
113 DEPRECATED(
"Use set_reference<FrameFrictionConeTpl<Scalar> >()",
void set_fref(
const FrameFrictionCone& fref));
114 DEPRECATED(
"Use get_reference<FrameFrictionConeTpl<Scalar> >()",
const FrameFrictionCone& get_fref()
const);
131 FrameFrictionCone fref_;
134 template <
typename _Scalar>
136 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
138 typedef _Scalar Scalar;
146 template <
template <
typename Scalar>
class Model>
148 : Base(model, data), more_than_3_constraints(
false) {
152 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorImpulse");
156 FrameFrictionCone fref = model->template get_reference<FrameFrictionCone>();
157 const boost::shared_ptr<StateMultibody>& state = boost::static_pointer_cast<StateMultibody>(model->get_state());
158 std::string frame_name = state->get_pinocchio()->frames[fref.id].name;
159 bool found_impulse =
false;
160 for (
typename ImpulseModelMultiple::ImpulseDataContainer::iterator it = d->impulses->impulses.begin();
161 it != d->impulses->impulses.end(); ++it) {
162 if (it->second->frame == fref.id) {
165 found_impulse =
true;
166 impulse = it->second;
171 more_than_3_constraints =
true;
172 found_impulse =
true;
173 impulse = it->second;
176 throw_pretty(
"Domain error: there isn't defined at least a 3d impulse for " + frame_name);
180 if (!found_impulse) {
181 throw_pretty(
"Domain error: there isn't defined impulse data for " + frame_name);
185 boost::shared_ptr<ImpulseDataAbstractTpl<Scalar> > impulse;
186 bool more_than_3_constraints;
187 using Base::activation;
201 #include "crocoddyl/multibody/costs/impulse-friction-cone.hxx" 203 #endif // CROCODDYL_MULTIBODY_COSTS_IMPULSE_FRICTION_CONE_HPP_ Abstract class for cost models.
Impulse friction cone cost.
virtual void get_referenceImpl(const std::type_info &ti, void *pv) const
Return the impulse friction cone reference.
boost::shared_ptr< ActivationModelAbstract > activation_
Activation model.
virtual void calc(const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the impulse friction cone cost.
Define a stack of impulse models.
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Modify the impulse friction cone reference.
CostModelImpulseFrictionConeTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameFrictionCone &fref)
Initialize the impulse friction cone cost model.
virtual boost::shared_ptr< CostDataAbstract > createData(DataCollectorAbstract *const data)
Create the impulse friction cone cost data.
boost::shared_ptr< StateAbstract > state_
State description.
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 friction cone cost.