9 #ifndef CROCODDYL_MULTIBODY_CONTACT_BASE_HPP_ 10 #define CROCODDYL_MULTIBODY_CONTACT_BASE_HPP_ 12 #include "crocoddyl/multibody/fwd.hpp" 13 #include "crocoddyl/core/mathbase.hpp" 14 #include "crocoddyl/multibody/states/multibody.hpp" 15 #include "crocoddyl/multibody/force-base.hpp" 16 #include "crocoddyl/core/utils/to-string.hpp" 20 template <
typename _Scalar>
23 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
25 typedef _Scalar Scalar;
29 typedef typename MathBase::VectorXs VectorXs;
30 typedef typename MathBase::MatrixXs MatrixXs;
36 virtual void calc(
const boost::shared_ptr<ContactDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x) = 0;
37 virtual void calcDiff(
const boost::shared_ptr<ContactDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x) = 0;
39 virtual void updateForce(
const boost::shared_ptr<ContactDataAbstract>& data,
const VectorXs& force) = 0;
40 void updateForceDiff(
const boost::shared_ptr<ContactDataAbstract>& data,
const MatrixXs& df_dx,
41 const MatrixXs& df_du)
const;
42 void setZeroForce(
const boost::shared_ptr<ContactDataAbstract>& data)
const;
43 void setZeroForceDiff(
const boost::shared_ptr<ContactDataAbstract>& data)
const;
45 virtual boost::shared_ptr<ContactDataAbstract> createData(pinocchio::DataTpl<Scalar>*
const data);
47 const boost::shared_ptr<StateMultibody>& get_state()
const;
48 std::size_t get_nc()
const;
49 std::size_t get_nu()
const;
54 pinocchio::FrameIndex
get_id()
const;
59 void set_id(
const pinocchio::FrameIndex
id);
64 template <
class Scalar>
65 friend std::ostream& operator<<(std::ostream& os, const ContactModelAbstractTpl<Scalar>& model);
72 virtual void print(std::ostream& os)
const;
75 boost::shared_ptr<StateMultibody> state_;
78 pinocchio::FrameIndex
id_;
81 template <
typename _Scalar>
83 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
85 typedef _Scalar Scalar;
88 typedef typename MathBase::VectorXs VectorXs;
89 typedef typename MathBase::MatrixXs MatrixXs;
91 template <
template <
typename Scalar>
class Model>
94 fXj(jMf.inverse().toActionMatrix()),
96 da0_dx(model->get_nc(), model->get_state()->get_ndx()) {
100 virtual ~ContactDataAbstractTpl() {}
108 using Base::pinocchio;
109 typename pinocchio::SE3Tpl<Scalar>::ActionMatrixType fXj;
119 #include "crocoddyl/multibody/contact-base.hxx" 121 #endif // CROCODDYL_MULTIBODY_CONTACT_BASE_HPP_
State multibody representation.