9 #ifndef CROCODDYL_MULTIBODY_RESIDUALS_COM_POSITION_HPP_ 10 #define CROCODDYL_MULTIBODY_RESIDUALS_COM_POSITION_HPP_ 12 #include "crocoddyl/multibody/fwd.hpp" 13 #include "crocoddyl/core/residual-base.hpp" 14 #include "crocoddyl/multibody/states/multibody.hpp" 15 #include "crocoddyl/multibody/data/multibody.hpp" 32 template <
typename _Scalar>
33 class ResidualModelCoMPositionTpl :
public ResidualModelAbstractTpl<_Scalar> {
35 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
37 typedef _Scalar Scalar;
38 typedef MathBaseTpl<Scalar> MathBase;
39 typedef ResidualModelAbstractTpl<Scalar> Base;
40 typedef ResidualDataCoMPositionTpl<Scalar> Data;
41 typedef StateMultibodyTpl<Scalar> StateMultibody;
42 typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
43 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
44 typedef typename MathBase::Vector3s Vector3s;
45 typedef typename MathBase::VectorXs VectorXs;
74 virtual void calc(
const boost::shared_ptr<ResidualDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
75 const Eigen::Ref<const VectorXs>& u);
84 virtual void calcDiff(
const boost::shared_ptr<ResidualDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
85 const Eigen::Ref<const VectorXs>& u);
86 virtual boost::shared_ptr<ResidualDataAbstract>
createData(DataCollectorAbstract*
const data);
103 virtual void print(std::ostream& os)
const;
116 template <
typename _Scalar>
117 struct ResidualDataCoMPositionTpl :
public ResidualDataAbstractTpl<_Scalar> {
118 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
120 typedef _Scalar Scalar;
121 typedef MathBaseTpl<Scalar> MathBase;
122 typedef ResidualDataAbstractTpl<Scalar> Base;
123 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
124 typedef typename MathBase::Matrix3xs Matrix3xs;
126 template <
template <
typename Scalar>
class Model>
127 ResidualDataCoMPositionTpl(Model<Scalar>*
const model, DataCollectorAbstract*
const data) : Base(model, data) {
129 DataCollectorMultibodyTpl<Scalar>* d =
dynamic_cast<DataCollectorMultibodyTpl<Scalar>*
>(shared);
131 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorMultibody");
135 pinocchio = d->pinocchio;
150 #include "crocoddyl/multibody/residuals/com-position.hxx" 152 #endif // CROCODDYL_MULTIBODY_RESIDUALS_COM_POSITION_HPP_ ResidualModelCoMPositionTpl(boost::shared_ptr< StateMultibody > state, const Vector3s &cref, const std::size_t nu)
Initialize the CoM position residual model.
bool u_dependent_
Label that indicates if the residual function depends on u.
const Vector3s & get_reference() const
Return the CoM position reference.
virtual void calcDiff(const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the derivatives of the CoM position residual.
std::size_t nu_
Control dimension.
void set_reference(const Vector3s &cref)
Modify the CoM position reference.
virtual void print(std::ostream &os) const
Print relevant information of the com-position residual.
boost::shared_ptr< StateAbstract > state_
State description.
VectorXs unone_
No control vector.
virtual void calc(const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the CoM position residual.
bool v_dependent_
Label that indicates if the residual function depends on v.
virtual boost::shared_ptr< ResidualDataAbstract > createData(DataCollectorAbstract *const data)
Create the residual data.
pinocchio::DataTpl< Scalar > * pinocchio
Pinocchio data.