9 #ifndef CROCODDYL_MULTIBODY_COSTS_FRAME_PLACEMENT_HPP_ 10 #define CROCODDYL_MULTIBODY_COSTS_FRAME_PLACEMENT_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;
63 boost::shared_ptr<ActivationModelAbstract> activation,
const FramePlacement& Fref,
64 const std::size_t& nu);
76 boost::shared_ptr<ActivationModelAbstract> activation,
const FramePlacement& Fref);
88 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<FramePlacementTpl<Scalar> >()",
void set_Mref(
const FramePlacement& Mref_in));
129 DEPRECATED(
"Use get_reference<FramePlacementTpl<Scalar> >()",
const FramePlacement& get_Mref()
const);
148 FramePlacement Mref_;
149 pinocchio::SE3Tpl<Scalar> oMf_inv_;
150 boost::shared_ptr<typename StateMultibody::PinocchioModel> pin_model_;
153 template <
typename _Scalar>
155 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
157 typedef _Scalar Scalar;
161 typedef typename MathBase::Matrix6xs Matrix6xs;
162 typedef typename MathBase::Matrix6s Matrix6s;
163 typedef typename MathBase::Vector6s Vector6s;
165 template <
template <
typename Scalar>
class Model>
168 J(6, model->get_state()->get_nv()),
170 fJf(6, model->get_state()->get_nv()),
171 Arr_J(6, model->get_state()->get_nv()) {
180 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorMultibody");
184 pinocchio = d->pinocchio;
187 pinocchio::DataTpl<Scalar>* pinocchio;
189 pinocchio::SE3Tpl<Scalar> rMf;
195 using Base::activation;
213 #include "crocoddyl/multibody/costs/frame-placement.hxx" 215 #endif // CROCODDYL_MULTIBODY_COSTS_FRAME_PLACEMENT_HPP_ virtual boost::shared_ptr< CostDataAbstract > createData(DataCollectorAbstract *const data)
Create the frame placement cost data.
virtual void get_referenceImpl(const std::type_info &ti, void *pv) const
Return the frame placement reference.
Abstract class for cost models.
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Modify the frame placement 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 frame placement cost.
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 placement cost.
VectorXs unone_
No control vector.
CostModelFramePlacementTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FramePlacement &Fref, const std::size_t &nu)
Initialize the frame placement cost model.
std::size_t nu_
Control dimension.
boost::shared_ptr< StateAbstract > state_
State description.