crocoddyl  1.3.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
centroidal-momentum.hpp
1 // BSD 3-Clause License
3 //
4 // Copyright (C) 2018-2020, LAAS-CNRS, University of Edinburgh
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
8 
9 #ifndef CROCODDYL_MULTIBODY_COSTS_MOMENTUM_HPP_
10 #define CROCODDYL_MULTIBODY_COSTS_MOMENTUM_HPP_
11 
12 #include "crocoddyl/multibody/fwd.hpp"
13 #include "crocoddyl/multibody/cost-base.hpp"
14 #include "crocoddyl/multibody/data/multibody.hpp"
15 #include "crocoddyl/core/utils/exception.hpp"
16 
17 namespace crocoddyl {
18 
19 template <typename _Scalar>
21  public:
22  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
23 
24  typedef _Scalar Scalar;
33  typedef typename MathBase::Vector6s Vector6s;
34  typedef typename MathBase::VectorXs VectorXs;
35  typedef typename MathBase::MatrixXs MatrixXs;
36  typedef typename MathBase::Matrix6xs Matrix6xs;
37 
38  CostModelCentroidalMomentumTpl(boost::shared_ptr<StateMultibody> state,
39  boost::shared_ptr<ActivationModelAbstract> activation, const Vector6s& mref,
40  const std::size_t& nu);
41  CostModelCentroidalMomentumTpl(boost::shared_ptr<StateMultibody> state,
42  boost::shared_ptr<ActivationModelAbstract> activation, const Vector6s& mref);
43  CostModelCentroidalMomentumTpl(boost::shared_ptr<StateMultibody> state, const Vector6s& mref, const std::size_t& nu);
44  CostModelCentroidalMomentumTpl(boost::shared_ptr<StateMultibody> state, const Vector6s& mref);
46 
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);
52 
53  virtual void set_referenceImpl(const std::type_info& ti, const void* pv);
54  virtual void get_referenceImpl(const std::type_info& ti, void* pv);
55 
56  const Vector6s& get_href() const;
57  void set_href(const Vector6s& mref_in);
58 
59  protected:
60  using Base::activation_;
61  using Base::nu_;
62  using Base::state_;
63  using Base::unone_;
64 
65  private:
66  Vector6s href_;
67 };
68 
69 template <typename _Scalar>
71  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
72 
73  typedef _Scalar Scalar;
77  typedef typename MathBase::VectorXs VectorXs;
78  typedef typename MathBase::MatrixXs MatrixXs;
79  typedef typename MathBase::Matrix6xs Matrix6xs;
80  typedef typename MathBase::Matrix6s Matrix6s;
81  typedef typename MathBase::Vector6s Vector6s;
82 
83  template <template <typename Scalar> class Model>
84  CostDataCentroidalMomentumTpl(Model<Scalar>* const model, DataCollectorAbstract* const data)
85  : Base(model, data), dhd_dq(6, model->get_state()->get_nv()), dhd_dv(6, model->get_state()->get_nv()) {
86  dhd_dq.setZero();
87  dhd_dv.setZero();
88 
89  // Check that proper shared data has been passed
91  if (d == NULL) {
92  throw_pretty("Invalid argument: the shared data should be derived from DataCollectorMultibody");
93  }
94 
95  // Avoids data casting at runtime
96  pinocchio = d->pinocchio;
97  }
98 
99  pinocchio::DataTpl<Scalar>* pinocchio;
100  Matrix6xs dhd_dq;
101  Matrix6xs dhd_dv;
102  Matrix6xs Arr_Rx;
103  using Base::activation;
104  using Base::cost;
105  using Base::Lu;
106  using Base::Luu;
107  using Base::Lx;
108  using Base::Lxu;
109  using Base::Lxx;
110  using Base::r;
111  using Base::Ru;
112  using Base::Rx;
113  using Base::shared;
114 };
115 
116 } // namespace crocoddyl
117 
118 /* --- Details -------------------------------------------------------------- */
119 /* --- Details -------------------------------------------------------------- */
120 /* --- Details -------------------------------------------------------------- */
121 #include "crocoddyl/multibody/costs/centroidal-momentum.hxx"
122 
123 #endif // CROCODDYL_MULTIBODY_COSTS_MOMENTUM_HPP_