9 #ifndef CROCODDYL_MULTIBODY_COSTS_CONTACT_WRENCH_CONE_HPP_ 10 #define CROCODDYL_MULTIBODY_COSTS_CONTACT_WRENCH_CONE_HPP_ 12 #include "crocoddyl/multibody/fwd.hpp" 13 #include "crocoddyl/multibody/cost-base.hpp" 14 #include "crocoddyl/multibody/contact-base.hpp" 15 #include "crocoddyl/multibody/contacts/contact-3d.hpp" 16 #include "crocoddyl/multibody/contacts/contact-6d.hpp" 17 #include "crocoddyl/multibody/data/contacts.hpp" 18 #include "crocoddyl/multibody/frames.hpp" 19 #include "crocoddyl/multibody/wrench-cone.hpp" 20 #include "crocoddyl/core/utils/exception.hpp" 24 template <
typename _Scalar>
27 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
29 typedef _Scalar Scalar;
41 typedef typename MathBase::Vector6s Vector6s;
42 typedef typename MathBase::VectorXs VectorXs;
43 typedef typename MathBase::MatrixXs MatrixXs;
44 typedef typename MathBase::MatrixX6s MatrixX6s;
47 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameWrenchCone& fref,
48 const std::size_t& nu);
50 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameWrenchCone& fref);
52 const std::size_t& nu);
56 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
57 const Eigen::Ref<const VectorXs>& u);
58 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
59 const Eigen::Ref<const VectorXs>& u);
60 virtual boost::shared_ptr<CostDataAbstract> createData(DataCollectorAbstract*
const data);
63 virtual void set_referenceImpl(
const std::type_info& ti,
const void* pv);
64 virtual void get_referenceImpl(
const std::type_info& ti,
void* pv)
const;
66 using Base::activation_;
72 FrameWrenchCone fref_;
75 template <
typename _Scalar>
77 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
79 typedef _Scalar Scalar;
85 typedef typename MathBase::VectorXs VectorXs;
86 typedef typename MathBase::MatrixXs MatrixXs;
87 typedef typename MathBase::Matrix6xs Matrix6xs;
89 template <
template <
typename Scalar>
class Model>
92 Arr_Rx(model->get_activation()->get_nr(), model->get_state()->get_ndx()),
93 Arr_Ru(model->get_activation()->get_nr(), model->get_nu()) {
100 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorContact");
104 FrameWrenchCone fref = model->template get_reference<FrameWrenchCone>();
105 std::string frame_name = model->get_state()->get_pinocchio()->frames[fref.id].name;
106 bool found_contact =
false;
107 for (
typename ContactModelMultiple::ContactDataContainer::iterator it = d->contacts->contacts.begin();
108 it != d->contacts->contacts.end(); ++it) {
109 if (it->second->frame == fref.id) {
112 found_contact =
true;
113 contact = it->second;
114 throw_pretty(
"Domain error: there isn't defined at least a 6d contact for " + frame_name);
119 found_contact =
true;
120 contact = it->second;
123 throw_pretty(
"Domain error: there isn't defined at least a 6d contact for " + frame_name);
127 if (!found_contact) {
128 throw_pretty(
"Domain error: there isn't defined contact data for " + frame_name);
132 boost::shared_ptr<ContactDataAbstractTpl<Scalar> > contact;
135 using Base::activation;
153 #include "crocoddyl/multibody/costs/contact-wrench-cone.hxx" 155 #endif // CROCODDYL_MULTIBODY_COSTS_CONTACT_WRENCH_CONE_HPP_