9 #ifndef CROCODDYL_MULTIBODY_COSTS_CONTACT_COP_POSITION_HPP_ 10 #define CROCODDYL_MULTIBODY_COSTS_CONTACT_COP_POSITION_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/data/multibody.hpp" 21 #include "crocoddyl/core/activations/quadratic-barrier.hpp" 22 #include "crocoddyl/core/utils/exception.hpp" 56 template <
typename _Scalar>
59 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
61 typedef _Scalar Scalar;
72 typedef typename MathBase::Vector2s Vector2s;
73 typedef typename MathBase::Vector3s Vector3s;
74 typedef typename MathBase::VectorXs VectorXs;
75 typedef typename MathBase::MatrixXs MatrixXs;
76 typedef Eigen::Matrix<Scalar, 4, 6> Matrix46;
87 boost::shared_ptr<ActivationModelAbstract> activation,
88 const FrameCoPSupport& cop_support,
const std::size_t& nu);
100 boost::shared_ptr<ActivationModelAbstract> activation,
101 const FrameCoPSupport& cop_support);
114 const std::size_t& nu);
139 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
140 const Eigen::Ref<const VectorXs>& u);
152 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
153 const Eigen::Ref<const VectorXs>& u);
164 virtual boost::shared_ptr<CostDataAbstract>
createData(DataCollectorAbstract*
const data);
183 FrameCoPSupport cop_support_;
186 template <
typename _Scalar>
188 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
190 typedef _Scalar Scalar;
196 typedef typename MathBase::MatrixXs MatrixXs;
198 template <
template <
typename Scalar>
class Model>
200 : Base(model, data), Arr_Ru(model->get_activation()->get_nr(), model->get_state()->get_nv()) {
206 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorContact");
210 FrameCoPSupport cop_support = model->template get_reference<FrameCoPSupport>();
211 const boost::shared_ptr<StateMultibody>& state = boost::static_pointer_cast<StateMultibody>(model->get_state());
212 std::string frame_name = state->get_pinocchio()->frames[cop_support.get_id()].name;
213 bool found_contact =
false;
214 for (
typename ContactModelMultiple::ContactDataContainer::iterator it = d->contacts->contacts.begin();
215 it != d->contacts->contacts.end(); ++it) {
216 if (it->second->frame == cop_support.get_id()) {
219 throw_pretty(
"Domain error: a 6d contact model is required in " + frame_name +
220 "in order to compute the CoP");
225 found_contact =
true;
226 contact = it->second;
231 if (!found_contact) {
232 throw_pretty(
"Domain error: there isn't defined contact data for " + frame_name);
236 pinocchio::DataTpl<Scalar>* pinocchio;
238 boost::shared_ptr<ContactDataAbstractTpl<Scalar> >
contact;
239 using Base::activation;
257 #include "crocoddyl/multibody/costs/contact-cop-position.hxx" 259 #endif // CROCODDYL_MULTIBODY_COSTS_CONTACT_COP_POSITION_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.