9 #ifndef CROCODDYL_MULTIBODY_COSTS_CONTACT_IMPULSE_HPP_ 10 #define CROCODDYL_MULTIBODY_COSTS_CONTACT_IMPULSE_HPP_ 12 #include "crocoddyl/multibody/fwd.hpp" 13 #include "crocoddyl/core/cost-base.hpp" 14 #include "crocoddyl/multibody/states/multibody.hpp" 15 #include "crocoddyl/multibody/impulse-base.hpp" 16 #include "crocoddyl/multibody/impulses/impulse-3d.hpp" 17 #include "crocoddyl/multibody/impulses/impulse-6d.hpp" 18 #include "crocoddyl/multibody/data/impulses.hpp" 19 #include "crocoddyl/multibody/frames.hpp" 20 #include "crocoddyl/core/utils/exception.hpp" 21 #include "crocoddyl/core/utils/deprecate.hpp" 43 template <
typename _Scalar>
46 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
48 typedef _Scalar Scalar;
57 typedef typename MathBase::VectorXs VectorXs;
58 typedef typename MathBase::MatrixXs MatrixXs;
70 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameForce& fref);
105 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
106 const Eigen::Ref<const VectorXs>& u);
117 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
118 const Eigen::Ref<const VectorXs>& u);
126 virtual boost::shared_ptr<CostDataAbstract>
createData(DataCollectorAbstract*
const data);
128 DEPRECATED(
"Used set_reference<FrameForceTpl<Scalar> >()",
void set_fref(
const FrameForce& fref));
129 DEPRECATED(
"Used get_reference<FrameForceTpl<Scalar> >()",
const FrameForce& get_fref()
const);
151 template <
typename _Scalar>
153 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
155 typedef _Scalar Scalar;
163 template <
template <
typename Scalar>
class Model>
165 impulse_type = ImpulseUndefined;
170 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorImpulse");
174 FrameForce fref = model->template get_reference<FrameForce>();
175 const boost::shared_ptr<StateMultibody>& state = boost::static_pointer_cast<StateMultibody>(model->get_state());
176 std::string frame_name = state->get_pinocchio()->frames[fref.id].name;
177 bool found_impulse =
false;
178 for (
typename ImpulseModelMultiple::ImpulseDataContainer::iterator it = d->impulses->impulses.begin();
179 it != d->impulses->impulses.end(); ++it) {
180 if (it->second->frame == fref.id) {
183 impulse_type = Impulse3D;
184 if (model->get_activation()->get_nr() != 3) {
185 throw_pretty(
"Domain error: nr isn't defined as 3 in the activation model for the 3d impulse in " +
188 found_impulse =
true;
189 impulse = it->second;
194 impulse_type = Impulse6D;
195 if (model->get_activation()->get_nr() != 6) {
196 throw_pretty(
"Domain error: nr isn't defined as 6 in the activation model for the 3d impulse in " +
199 found_impulse =
true;
200 impulse = it->second;
203 throw_pretty(
"Domain error: there isn't defined at least a 3d impulse for " + frame_name);
207 if (!found_impulse) {
208 throw_pretty(
"Domain error: there isn't defined impulse data for " + frame_name);
212 boost::shared_ptr<ImpulseDataAbstractTpl<Scalar> > impulse;
213 ImpulseType impulse_type;
214 using Base::activation;
232 #include "crocoddyl/multibody/costs/contact-impulse.hxx" 234 #endif // CROCODDYL_MULTIBODY_COSTS_CONTACT_IMPULSE_HPP_ Abstract class for cost models.
boost::shared_ptr< ActivationModelAbstract > activation_
Activation model.
Define a stack of impulse models.
VectorXs unone_
No control vector.
std::size_t nu_
Control dimension.
boost::shared_ptr< StateAbstract > state_
State description.