9 #ifndef CROCODDYL_MULTIBODY_COSTS_FRAME_VELOCITY_HPP_ 10 #define CROCODDYL_MULTIBODY_COSTS_FRAME_VELOCITY_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" 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 FrameMotion& Fref,
65 const std::size_t nu);
77 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameMotion& Fref);
109 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
110 const Eigen::Ref<const VectorXs>& u);
119 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
120 const Eigen::Ref<const VectorXs>& u);
125 virtual boost::shared_ptr<CostDataAbstract>
createData(DataCollectorAbstract*
const data);
127 DEPRECATED(
"Use set_reference<FrameMotionTpl<Scalar> >()",
void set_vref(
const FrameMotion& vref_in));
128 DEPRECATED(
"Use get_reference<FrameMotionTpl<Scalar> >()",
const FrameMotion& get_vref()
const);
148 boost::shared_ptr<typename StateMultibody::PinocchioModel> pin_model_;
151 template <
typename _Scalar>
153 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
155 typedef _Scalar Scalar;
159 typedef typename MathBase::Matrix6xs Matrix6xs;
161 template <
template <
typename Scalar>
class Model>
163 : Base(model, data), Arr_Rx(6, model->get_state()->get_nv()) {
168 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorMultibody");
172 pinocchio = d->pinocchio;
175 pinocchio::DataTpl<Scalar>* pinocchio;
178 using Base::activation;
196 #include "crocoddyl/multibody/costs/frame-velocity.hxx" 198 #endif // CROCODDYL_MULTIBODY_COSTS_FRAME_VELOCITY_HPP_
CostModelFrameVelocityTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameMotion &Fref, const std::size_t nu)
Initialize the frame velocity cost model.
virtual boost::shared_ptr< CostDataAbstract > createData(DataCollectorAbstract *const data)
Create the frame velocity cost data.
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 velocity cost.
virtual void get_referenceImpl(const std::type_info &ti, void *pv) const
Return the frame velocity reference.
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 velocity cost.
boost::shared_ptr< ActivationModelAbstract > activation_
Activation model.
State multibody representation.
VectorXs unone_
No control vector.
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Modify the frame velocity reference.
std::size_t nu_
Control dimension.
boost::shared_ptr< StateAbstract > state_
State description.