9 #ifndef CROCODDYL_MULTIBODY_COSTS_MOMENTUM_HPP_ 10 #define CROCODDYL_MULTIBODY_COSTS_MOMENTUM_HPP_ 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 #include "crocoddyl/core/utils/deprecate.hpp" 20 template <
typename _Scalar>
23 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
25 typedef _Scalar Scalar;
34 typedef typename MathBase::Vector6s Vector6s;
35 typedef typename MathBase::VectorXs VectorXs;
36 typedef typename MathBase::MatrixXs MatrixXs;
37 typedef typename MathBase::Matrix6xs Matrix6xs;
40 boost::shared_ptr<ActivationModelAbstract> activation,
const Vector6s& mref,
41 const std::size_t& nu);
43 boost::shared_ptr<ActivationModelAbstract> activation,
const Vector6s& mref);
48 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
49 const Eigen::Ref<const VectorXs>& u);
50 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
51 const Eigen::Ref<const VectorXs>& u);
52 virtual boost::shared_ptr<CostDataAbstract> createData(DataCollectorAbstract*
const data);
54 virtual void set_referenceImpl(
const std::type_info& ti,
const void* pv);
55 virtual void get_referenceImpl(
const std::type_info& ti,
void* pv)
const;
57 DEPRECATED(
"Use set_reference<MathBaseTpl<Scalar>::Vector6s>()",
void set_href(
const Vector6s& mref_in));
58 DEPRECATED(
"Use get_reference<MathBaseTpl<Scalar>::Vector6s>()",
const Vector6s& get_href()
const);
61 using Base::activation_;
70 template <
typename _Scalar>
72 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
74 typedef _Scalar Scalar;
78 typedef typename MathBase::VectorXs VectorXs;
79 typedef typename MathBase::MatrixXs MatrixXs;
80 typedef typename MathBase::Matrix6xs Matrix6xs;
81 typedef typename MathBase::Matrix6s Matrix6s;
82 typedef typename MathBase::Vector6s Vector6s;
84 template <
template <
typename Scalar>
class Model>
86 : Base(model, data), dhd_dq(6, model->get_state()->get_nv()), dhd_dv(6, model->get_state()->get_nv()) {
93 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorMultibody");
97 pinocchio = d->pinocchio;
100 pinocchio::DataTpl<Scalar>* pinocchio;
104 using Base::activation;
122 #include "crocoddyl/multibody/costs/centroidal-momentum.hxx" 124 #endif // CROCODDYL_MULTIBODY_COSTS_MOMENTUM_HPP_