9 #ifndef CROCODDYL_MULTIBODY_COSTS_FRAME_PLACEMENT_HPP_ 10 #define CROCODDYL_MULTIBODY_COSTS_FRAME_PLACEMENT_HPP_ 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" 21 template <
typename _Scalar>
24 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
26 typedef _Scalar Scalar;
36 typedef typename MathBase::VectorXs VectorXs;
37 typedef typename MathBase::MatrixXs MatrixXs;
40 boost::shared_ptr<ActivationModelAbstract> activation,
const FramePlacement& Fref,
41 const std::size_t& nu);
43 boost::shared_ptr<ActivationModelAbstract> activation,
const FramePlacement& Fref);
45 const std::size_t& nu);
49 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
50 const Eigen::Ref<const VectorXs>& u);
51 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
52 const Eigen::Ref<const VectorXs>& u);
53 virtual boost::shared_ptr<CostDataAbstract> createData(DataCollectorAbstract*
const data);
55 DEPRECATED(
"Use set_reference<FramePlacementTpl<Scalar> >()",
void set_Mref(
const FramePlacement& Mref_in));
56 DEPRECATED(
"Use get_reference<FramePlacementTpl<Scalar> >()",
const FramePlacement& get_Mref()
const);
59 virtual void set_referenceImpl(
const std::type_info& ti,
const void* pv);
60 virtual void get_referenceImpl(
const std::type_info& ti,
void* pv)
const;
62 using Base::activation_;
69 pinocchio::SE3Tpl<Scalar> oMf_inv_;
72 template <
typename _Scalar>
74 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
76 typedef _Scalar Scalar;
80 typedef typename MathBase::VectorXs VectorXs;
81 typedef typename MathBase::MatrixXs MatrixXs;
82 typedef typename MathBase::Matrix6xs Matrix6xs;
83 typedef typename MathBase::Matrix6s Matrix6s;
84 typedef typename MathBase::Vector6s Vector6s;
86 template <
template <
typename Scalar>
class Model>
89 J(6, model->get_state()->get_nv()),
91 fJf(6, model->get_state()->get_nv()),
92 Arr_J(6, model->get_state()->get_nv()) {
101 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorMultibody");
105 pinocchio = d->pinocchio;
108 pinocchio::DataTpl<Scalar>* pinocchio;
110 pinocchio::SE3Tpl<Scalar> rMf;
116 using Base::activation;
134 #include "crocoddyl/multibody/costs/frame-placement.hxx" 136 #endif // CROCODDYL_MULTIBODY_COSTS_FRAME_PLACEMENT_HPP_