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/multibody/cost-base.hpp" 14 #include "crocoddyl/multibody/data/multibody.hpp" 15 #include "crocoddyl/multibody/frames.hpp" 16 #include "crocoddyl/core/utils/exception.hpp" 20 template <
typename _Scalar>
23 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
25 typedef _Scalar Scalar;
35 typedef typename MathBase::VectorXs VectorXs;
36 typedef typename MathBase::Matrix3s Matrix3s;
39 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameMotion& Fref,
40 const std::size_t& nu);
42 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameMotion& Fref);
47 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
48 const Eigen::Ref<const VectorXs>& u);
49 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
50 const Eigen::Ref<const VectorXs>& u);
51 virtual boost::shared_ptr<CostDataAbstract> createData(DataCollectorAbstract*
const data);
53 const FrameMotion& get_vref()
const;
54 void set_vref(
const FrameMotion& vref_in);
57 virtual void set_referenceImpl(
const std::type_info& ti,
const void* pv);
58 virtual void get_referenceImpl(
const std::type_info& ti,
void* pv);
60 using Base::activation_;
69 template <
typename _Scalar>
71 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
73 typedef _Scalar Scalar;
77 typedef typename MathBase::VectorXs VectorXs;
78 typedef typename MathBase::MatrixXs MatrixXs;
79 typedef typename MathBase::Matrix6xs Matrix6xs;
81 template <
template <
typename Scalar>
class Model>
84 joint(model->get_state()->get_pinocchio()->frames[model->get_vref().frame].parent),
85 vr(pinocchio::MotionTpl<Scalar>::Zero()),
86 fXj(model->get_state()->get_pinocchio()->frames[model->get_vref().frame].placement.inverse().toActionMatrix()),
87 dv_dq(6, model->get_state()->get_nv()),
88 dv_dv(6, model->get_state()->get_nv()),
89 Arr_Rx(6, model->get_state()->get_nv()) {
96 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorMultibody");
100 pinocchio = d->pinocchio;
103 pinocchio::DataTpl<Scalar>* pinocchio;
104 pinocchio::JointIndex joint;
105 pinocchio::MotionTpl<Scalar> vr;
106 typename pinocchio::SE3Tpl<Scalar>::ActionMatrixType fXj;
111 using Base::activation;
129 #include "crocoddyl/multibody/costs/frame-velocity.hxx" 131 #endif // CROCODDYL_MULTIBODY_COSTS_FRAME_VELOCITY_HPP_