crocoddyl  1.5.0
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 #include "crocoddyl/core/utils/deprecate.hpp"
17 
18 namespace crocoddyl {
19 
20 template <typename _Scalar>
22  public:
23  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
24 
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;
38 
39  CostModelCentroidalMomentumTpl(boost::shared_ptr<StateMultibody> state,
40  boost::shared_ptr<ActivationModelAbstract> activation, const Vector6s& mref,
41  const std::size_t& nu);
42  CostModelCentroidalMomentumTpl(boost::shared_ptr<StateMultibody> state,
43  boost::shared_ptr<ActivationModelAbstract> activation, const Vector6s& mref);
44  CostModelCentroidalMomentumTpl(boost::shared_ptr<StateMultibody> state, const Vector6s& mref, const std::size_t& nu);
45  CostModelCentroidalMomentumTpl(boost::shared_ptr<StateMultibody> state, const Vector6s& mref);
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  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;
56 
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);
59 
60  protected:
61  using Base::activation_;
62  using Base::nu_;
63  using Base::state_;
64  using Base::unone_;
65 
66  private:
67  Vector6s href_;
68 };
69 
70 template <typename _Scalar>
72  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
73 
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;
83 
84  template <template <typename Scalar> class Model>
85  CostDataCentroidalMomentumTpl(Model<Scalar>* const model, DataCollectorAbstract* const data)
86  : Base(model, data), dhd_dq(6, model->get_state()->get_nv()), dhd_dv(6, model->get_state()->get_nv()) {
87  dhd_dq.setZero();
88  dhd_dv.setZero();
89 
90  // Check that proper shared data has been passed
92  if (d == NULL) {
93  throw_pretty("Invalid argument: the shared data should be derived from DataCollectorMultibody");
94  }
95 
96  // Avoids data casting at runtime
97  pinocchio = d->pinocchio;
98  }
99 
100  pinocchio::DataTpl<Scalar>* pinocchio;
101  Matrix6xs dhd_dq;
102  Matrix6xs dhd_dv;
103  Matrix6xs Arr_Rx;
104  using Base::activation;
105  using Base::cost;
106  using Base::Lu;
107  using Base::Luu;
108  using Base::Lx;
109  using Base::Lxu;
110  using Base::Lxx;
111  using Base::r;
112  using Base::Ru;
113  using Base::Rx;
114  using Base::shared;
115 };
116 
117 } // namespace crocoddyl
118 
119 /* --- Details -------------------------------------------------------------- */
120 /* --- Details -------------------------------------------------------------- */
121 /* --- Details -------------------------------------------------------------- */
122 #include "crocoddyl/multibody/costs/centroidal-momentum.hxx"
123 
124 #endif // CROCODDYL_MULTIBODY_COSTS_MOMENTUM_HPP_