crocoddyl  1.8.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
contact-cop-position.hpp
1 // BSD 3-Clause License
3 //
4 // Copyright (C) 2020-2021, University of Duisburg-Essen, University of Edinburgh, INRIA
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
8 
9 #ifndef CROCODDYL_MULTIBODY_COSTS_CONTACT_COP_POSITION_HPP_
10 #define CROCODDYL_MULTIBODY_COSTS_CONTACT_COP_POSITION_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-cop-position.hpp"
16 #include "crocoddyl/multibody/frames.hpp"
17 #include "crocoddyl/core/activations/quadratic-barrier.hpp"
18 #include "crocoddyl/core/utils/exception.hpp"
19 
20 namespace crocoddyl {
21 
52 template <typename _Scalar>
54  public:
55  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
56 
57  typedef _Scalar Scalar;
67  typedef typename MathBase::Matrix3s Matrix3s;
68  typedef typename MathBase::VectorXs VectorXs;
69 
78  CostModelContactCoPPositionTpl(boost::shared_ptr<StateMultibody> state,
79  boost::shared_ptr<ActivationModelAbstract> activation,
80  const FrameCoPSupport& cop_support, const std::size_t nu);
81 
91  CostModelContactCoPPositionTpl(boost::shared_ptr<StateMultibody> state,
92  boost::shared_ptr<ActivationModelAbstract> activation,
93  const FrameCoPSupport& cop_support);
94 
105  CostModelContactCoPPositionTpl(boost::shared_ptr<StateMultibody> state, const FrameCoPSupport& cop_support,
106  const std::size_t nu);
107 
118  CostModelContactCoPPositionTpl(boost::shared_ptr<StateMultibody> state, const FrameCoPSupport& cop_support);
120 
121  protected:
125  virtual void set_referenceImpl(const std::type_info& ti, const void* pv);
126 
130  virtual void get_referenceImpl(const std::type_info& ti, void* pv);
131 
132  using Base::activation_;
133  using Base::nu_;
134  using Base::residual_;
135  using Base::state_;
136  using Base::unone_;
137 
138  private:
139  FrameCoPSupport cop_support_;
140 };
141 
142 } // namespace crocoddyl
143 
144 /* --- Details -------------------------------------------------------------- */
145 /* --- Details -------------------------------------------------------------- */
146 /* --- Details -------------------------------------------------------------- */
147 #include "crocoddyl/multibody/costs/contact-cop-position.hxx"
148 
149 #endif // CROCODDYL_MULTIBODY_COSTS_CONTACT_COP_POSITION_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
CostModelContactCoPPositionTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameCoPSupport &cop_support, const std::size_t nu)
Initialize the contact CoP cost model.
Center of pressure residual function.
Definition: fwd.hpp:112
virtual void get_referenceImpl(const std::type_info &ti, void *pv)
Modify the frame CoP support.
VectorXs unone_
No control vector.
Definition: cost-base.hpp:238
Define a center of pressure cost function.
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Return the frame CoP support.
std::size_t nu_
Control dimension.
Definition: cost-base.hpp:237
boost::shared_ptr< StateAbstract > state_
State description.
Definition: cost-base.hpp:234