crocoddyl  1.4.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
frame-rotation.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_FRAME_ROTATION_HPP_
10 #define CROCODDYL_MULTIBODY_COSTS_FRAME_ROTATION_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/multibody/frames.hpp"
16 #include "crocoddyl/core/utils/exception.hpp"
17 #include "crocoddyl/core/utils/deprecate.hpp"
18 
19 namespace crocoddyl {
20 
21 template <typename _Scalar>
23  public:
24  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
25 
26  typedef _Scalar Scalar;
36  typedef typename MathBase::VectorXs VectorXs;
37  typedef typename MathBase::Matrix3s Matrix3s;
38 
39  CostModelFrameRotationTpl(boost::shared_ptr<StateMultibody> state,
40  boost::shared_ptr<ActivationModelAbstract> activation, const FrameRotation& Fref,
41  const std::size_t& nu);
42  CostModelFrameRotationTpl(boost::shared_ptr<StateMultibody> state,
43  boost::shared_ptr<ActivationModelAbstract> activation, const FrameRotation& Fref);
44  CostModelFrameRotationTpl(boost::shared_ptr<StateMultibody> state, const FrameRotation& Fref, const std::size_t& nu);
45  CostModelFrameRotationTpl(boost::shared_ptr<StateMultibody> state, const FrameRotation& Fref);
46  virtual ~CostModelFrameRotationTpl();
47 
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);
53 
54  DEPRECATED("Use set_reference<FrameRotationTpl<Scalar> >()", void set_Rref(const FrameRotation& Rref_in));
55  DEPRECATED("Use get_reference<FrameRotationTpl<Scalar> >()", const FrameRotation& get_Rref() const);
56 
57  protected:
58  virtual void set_referenceImpl(const std::type_info& ti, const void* pv);
59  virtual void get_referenceImpl(const std::type_info& ti, void* pv) const;
60 
61  using Base::activation_;
62  using Base::nu_;
63  using Base::state_;
64  using Base::unone_;
65 
66  private:
67  FrameRotation Rref_;
68  Matrix3s oRf_inv_;
69 };
70 
71 template <typename _Scalar>
73  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
74 
75  typedef _Scalar Scalar;
79  typedef typename MathBase::Vector3s Vector3s;
80  typedef typename MathBase::Matrix3s Matrix3s;
81  typedef typename MathBase::VectorXs VectorXs;
82  typedef typename MathBase::MatrixXs MatrixXs;
83  typedef typename MathBase::Matrix3xs Matrix3xs;
84  typedef typename MathBase::Matrix6xs Matrix6xs;
85 
86  template <template <typename Scalar> class Model>
87  CostDataFrameRotationTpl(Model<Scalar>* const model, DataCollectorAbstract* const data)
88  : Base(model, data),
89  J(3, model->get_state()->get_nv()),
90  rJf(3, 3),
91  fJf(6, model->get_state()->get_nv()),
92  Arr_J(3, model->get_state()->get_nv()) {
93  r.setZero();
94  rRf.setIdentity();
95  J.setZero();
96  rJf.setZero();
97  fJf.setZero();
98  Arr_J.setZero();
99  // Check that proper shared data has been passed
101  if (d == NULL) {
102  throw_pretty("Invalid argument: the shared data should be derived from DataCollectorMultibody");
103  }
104 
105  // Avoids data casting at runtime
106  pinocchio = d->pinocchio;
107  }
108 
109  pinocchio::DataTpl<Scalar>* pinocchio;
110  Vector3s r;
111  Matrix3s rRf;
112  Matrix3xs J;
113  Matrix3s rJf;
114  Matrix6xs fJf;
115  Matrix3xs Arr_J;
116 
117  using Base::activation;
118  using Base::cost;
119  using Base::Lu;
120  using Base::Luu;
121  using Base::Lx;
122  using Base::Lxu;
123  using Base::Lxx;
124  using Base::shared;
125  // using Base::r;
126  using Base::Ru;
127  using Base::Rx;
128 };
129 
130 } // namespace crocoddyl
131 
132 /* --- Details -------------------------------------------------------------- */
133 /* --- Details -------------------------------------------------------------- */
134 /* --- Details -------------------------------------------------------------- */
135 #include "crocoddyl/multibody/costs/frame-rotation.hxx"
136 
137 #endif // CROCODDYL_MULTIBODY_COSTS_FRAME_ROTATION_HPP_