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/core/cost-base.hpp" 14 #include "crocoddyl/multibody/states/multibody.hpp" 15 #include "crocoddyl/multibody/contact-base.hpp" 16 #include "crocoddyl/multibody/contacts/contact-3d.hpp" 17 #include "crocoddyl/multibody/contacts/contact-6d.hpp" 18 #include "crocoddyl/multibody/data/contacts.hpp" 19 #include "crocoddyl/multibody/frames.hpp" 20 #include "crocoddyl/multibody/wrench-cone.hpp" 21 #include "crocoddyl/core/utils/exception.hpp" 25 template <
typename _Scalar>
28 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
30 typedef _Scalar Scalar;
39 typedef typename MathBase::VectorXs VectorXs;
40 typedef typename MathBase::MatrixXs MatrixXs;
41 typedef typename MathBase::MatrixX6s MatrixX6s;
44 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameWrenchCone& fref,
45 const std::size_t& nu);
47 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameWrenchCone& fref);
49 const std::size_t& nu);
53 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
54 const Eigen::Ref<const VectorXs>& u);
55 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
56 const Eigen::Ref<const VectorXs>& u);
57 virtual boost::shared_ptr<CostDataAbstract>
createData(DataCollectorAbstract*
const data);
69 FrameWrenchCone fref_;
72 template <
typename _Scalar>
74 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
76 typedef _Scalar Scalar;
83 typedef typename MathBase::MatrixXs MatrixXs;
85 template <
template <
typename Scalar>
class Model>
88 Arr_Rx(model->get_activation()->get_nr(), model->get_state()->get_ndx()),
89 Arr_Ru(model->get_activation()->get_nr(), model->get_nu()) {
96 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorContact");
100 FrameWrenchCone fref = model->template get_reference<FrameWrenchCone>();
101 const boost::shared_ptr<StateMultibody>& state = boost::static_pointer_cast<StateMultibody>(model->get_state());
102 std::string frame_name = state->get_pinocchio()->frames[fref.id].name;
103 bool found_contact =
false;
104 for (
typename ContactModelMultiple::ContactDataContainer::iterator it = d->contacts->contacts.begin();
105 it != d->contacts->contacts.end(); ++it) {
106 if (it->second->frame == fref.id) {
109 found_contact =
true;
110 contact = it->second;
111 throw_pretty(
"Domain error: there isn't defined at least a 6d contact for " + frame_name);
116 found_contact =
true;
117 contact = it->second;
120 throw_pretty(
"Domain error: there isn't defined at least a 6d contact for " + frame_name);
124 if (!found_contact) {
125 throw_pretty(
"Domain error: there isn't defined contact data for " + frame_name);
129 boost::shared_ptr<ContactDataAbstractTpl<Scalar> > contact;
132 using Base::activation;
150 #include "crocoddyl/multibody/costs/contact-wrench-cone.hxx" 152 #endif // CROCODDYL_MULTIBODY_COSTS_CONTACT_WRENCH_CONE_HPP_ Abstract class for cost models.
boost::shared_ptr< ActivationModelAbstract > activation_
Activation model.
VectorXs unone_
No control vector.
std::size_t nu_
Control dimension.
boost::shared_ptr< StateAbstract > state_
State description.