9 #ifndef CROCODDYL_MULTIBODY_COSTS_IMPULSE_COM_HPP_ 10 #define CROCODDYL_MULTIBODY_COSTS_IMPULSE_COM_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/data/impulses.hpp" 17 #include "crocoddyl/multibody/frames.hpp" 18 #include "crocoddyl/core/utils/exception.hpp" 39 template <
typename _Scalar>
42 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
44 typedef _Scalar Scalar;
52 typedef typename MathBase::VectorXs VectorXs;
61 boost::shared_ptr<ActivationModelAbstract> activation);
81 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
82 const Eigen::Ref<const VectorXs>& u);
91 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
92 const Eigen::Ref<const VectorXs>& u);
97 virtual boost::shared_ptr<CostDataAbstract>
createData(DataCollectorAbstract*
const data);
106 boost::shared_ptr<typename StateMultibody::PinocchioModel> pin_model_;
109 template <
typename _Scalar>
111 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
113 typedef _Scalar Scalar;
118 typedef typename MathBase::MatrixXs MatrixXs;
119 typedef typename MathBase::Matrix3xs Matrix3xs;
121 template <
template <
typename Scalar>
class Model>
124 Arr_Rx(3, model->get_state()->get_nv()),
125 dvc_dq(3, model->get_state()->get_nv()),
126 ddv_dv(model->get_state()->get_nv(), model->get_state()->get_nv()) {
130 const boost::shared_ptr<StateMultibody>& state = boost::static_pointer_cast<StateMultibody>(model->get_state());
131 pinocchio_internal = pinocchio::DataTpl<Scalar>(*state->get_pinocchio().get());
135 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorMultibodyInImpulse");
137 pinocchio = d->pinocchio;
138 impulses = d->impulses;
141 pinocchio::DataTpl<Scalar>* pinocchio;
142 boost::shared_ptr<crocoddyl::ImpulseDataMultipleTpl<Scalar> > impulses;
146 pinocchio::DataTpl<Scalar> pinocchio_internal;
147 using Base::activation;
165 #include "crocoddyl/multibody/costs/impulse-com.hxx" 167 #endif // CROCODDYL_MULTIBODY_COSTS_IMPULSE_COM_HPP_
Abstract class for cost models.
boost::shared_ptr< ActivationModelAbstract > activation_
Activation model.
State multibody representation.
virtual void calc(const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the impulse CoM cost.
virtual boost::shared_ptr< CostDataAbstract > createData(DataCollectorAbstract *const data)
Create the impulse CoM cost data.
VectorXs unone_
No control vector.
std::size_t nu_
Control dimension.
CostModelImpulseCoMTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation)
Initialize the impulse CoM cost model.
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 CoM cost.