9 #ifndef CROCODDYL_MULTIBODY_COSTS_FRAME_ROTATION_HPP_ 10 #define CROCODDYL_MULTIBODY_COSTS_FRAME_ROTATION_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 FrameRotation& Fref,
40 const std::size_t& nu);
42 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameRotation& 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 FrameRotation& get_Rref()
const;
54 void set_Rref(
const FrameRotation& Rref_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_;
70 template <
typename _Scalar>
72 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
74 typedef _Scalar Scalar;
78 typedef typename MathBase::Vector3s Vector3s;
79 typedef typename MathBase::Matrix3s Matrix3s;
80 typedef typename MathBase::VectorXs VectorXs;
81 typedef typename MathBase::MatrixXs MatrixXs;
82 typedef typename MathBase::Matrix3xs Matrix3xs;
83 typedef typename MathBase::Matrix6xs Matrix6xs;
85 template <
template <
typename Scalar>
class Model>
88 J(3, model->get_state()->get_nv()),
90 fJf(6, model->get_state()->get_nv()),
91 Arr_J(3, model->get_state()->get_nv()) {
101 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorMultibody");
105 pinocchio = d->pinocchio;
108 pinocchio::DataTpl<Scalar>* pinocchio;
116 using Base::activation;
134 #include "crocoddyl/multibody/costs/frame-rotation.hxx" 136 #endif // CROCODDYL_MULTIBODY_COSTS_FRAME_ROTATION_HPP_