9 #ifndef CROCODDYL_MULTIBODY_IMPULSE_BASE_HPP_ 10 #define CROCODDYL_MULTIBODY_IMPULSE_BASE_HPP_ 12 #include <pinocchio/multibody/data.hpp> 13 #include <pinocchio/spatial/force.hpp> 15 #include "crocoddyl/multibody/fwd.hpp" 16 #include "crocoddyl/multibody/states/multibody.hpp" 17 #include "crocoddyl/core/utils/to-string.hpp" 21 template <
typename _Scalar>
22 class ImpulseModelAbstractTpl {
24 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
26 typedef _Scalar Scalar;
27 typedef MathBaseTpl<Scalar> MathBase;
28 typedef ImpulseDataAbstractTpl<Scalar> ImpulseDataAbstract;
29 typedef StateMultibodyTpl<Scalar> StateMultibody;
30 typedef typename MathBase::VectorXs VectorXs;
31 typedef typename MathBase::MatrixXs MatrixXs;
33 ImpulseModelAbstractTpl(boost::shared_ptr<StateMultibody> state,
const std::size_t ni);
34 virtual ~ImpulseModelAbstractTpl();
36 virtual void calc(
const boost::shared_ptr<ImpulseDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x) = 0;
37 virtual void calcDiff(
const boost::shared_ptr<ImpulseDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x) = 0;
39 virtual void updateForce(
const boost::shared_ptr<ImpulseDataAbstract>& data,
const VectorXs& force) = 0;
40 void updateForceDiff(
const boost::shared_ptr<ImpulseDataAbstract>& data,
const MatrixXs& df_dx)
const;
41 void setZeroForce(
const boost::shared_ptr<ImpulseDataAbstract>& data)
const;
42 void setZeroForceDiff(
const boost::shared_ptr<ImpulseDataAbstract>& data)
const;
44 virtual boost::shared_ptr<ImpulseDataAbstract> createData(pinocchio::DataTpl<Scalar>*
const data);
46 const boost::shared_ptr<StateMultibody>& get_state()
const;
47 std::size_t get_ni()
const;
50 boost::shared_ptr<StateMultibody> state_;
54 template <
typename _Scalar>
55 struct ImpulseDataAbstractTpl {
56 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
58 typedef _Scalar Scalar;
59 typedef MathBaseTpl<Scalar> MathBase;
60 typedef typename MathBase::VectorXs VectorXs;
61 typedef typename MathBase::MatrixXs MatrixXs;
63 template <
template <
typename Scalar>
class Model>
64 ImpulseDataAbstractTpl(Model<Scalar>*
const model, pinocchio::DataTpl<Scalar>*
const data)
68 jMf(pinocchio::SE3Tpl<Scalar>::Identity()),
69 Jc(model->get_ni(), model->get_state()->get_nv()),
70 dv0_dq(model->get_ni(), model->get_state()->get_nv()),
71 f(pinocchio::ForceTpl<Scalar>::Zero()),
72 df_dx(model->get_ni(), model->get_state()->get_ndx()) {
77 virtual ~ImpulseDataAbstractTpl() {}
79 pinocchio::DataTpl<Scalar>* pinocchio;
80 pinocchio::JointIndex joint;
81 pinocchio::FrameIndex frame;
82 typename pinocchio::SE3Tpl<Scalar> jMf;
85 pinocchio::ForceTpl<Scalar> f;
94 #include "crocoddyl/multibody/impulse-base.hxx" 96 #endif // CROCODDYL_MULTIBODY_IMPULSE_BASE_HPP_