crocoddyl  1.8.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
impulse-friction-cone.hpp
1 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2021, University of Edinburgh, INRIA
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
8 
9 #ifndef CROCODDYL_MULTIBODY_COSTS_IMPULSE_FRICTION_CONE_HPP_
10 #define CROCODDYL_MULTIBODY_COSTS_IMPULSE_FRICTION_CONE_HPP_
11 
12 #include "crocoddyl/multibody/fwd.hpp"
13 #include "crocoddyl/core/costs/residual.hpp"
14 #include "crocoddyl/multibody/states/multibody.hpp"
15 #include "crocoddyl/multibody/residuals/contact-friction-cone.hpp"
16 #include "crocoddyl/multibody/frames.hpp"
17 #include "crocoddyl/core/utils/exception.hpp"
18 
19 namespace crocoddyl {
20 
43 template <typename _Scalar>
45  public:
46  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
47 
48  typedef _Scalar Scalar;
54  typedef typename MathBase::VectorXs VectorXs;
55 
63  CostModelImpulseFrictionConeTpl(boost::shared_ptr<StateMultibody> state,
64  boost::shared_ptr<ActivationModelAbstract> activation,
65  const FrameFrictionCone& fref);
66 
75  CostModelImpulseFrictionConeTpl(boost::shared_ptr<StateMultibody> state, const FrameFrictionCone& fref);
77 
78  protected:
82  virtual void set_referenceImpl(const std::type_info& ti, const void* pv);
83 
87  virtual void get_referenceImpl(const std::type_info& ti, void* pv);
88 
89  using Base::activation_;
90  using Base::residual_;
91  using Base::state_;
92 
93  private:
94  FrameFrictionCone fref_;
95 };
96 
97 } // namespace crocoddyl
98 
99 /* --- Details -------------------------------------------------------------- */
100 /* --- Details -------------------------------------------------------------- */
101 /* --- Details -------------------------------------------------------------- */
102 #include "crocoddyl/multibody/costs/impulse-friction-cone.hxx"
103 
104 #endif // CROCODDYL_MULTIBODY_COSTS_IMPULSE_FRICTION_CONE_HPP_
boost::shared_ptr< ResidualModelAbstract > residual_
Residual model.
Definition: cost-base.hpp:236
Abstract class for cost models.
Definition: cost-base.hpp:49
Residual-based cost.
Definition: residual.hpp:36
boost::shared_ptr< ActivationModelAbstract > activation_
Activation model.
Definition: cost-base.hpp:235
State multibody representation.
Definition: fwd.hpp:300
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 void get_referenceImpl(const std::type_info &ti, void *pv)
Return the impulse friction cone reference.
boost::shared_ptr< StateAbstract > state_
State description.
Definition: cost-base.hpp:234