crocoddyl  1.8.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
contact-impulse.hpp
1 // BSD 3-Clause License
3 //
4 // Copyright (C) 2020-2021, University of Edinburgh, INRIA
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
8 
9 #ifndef CROCODDYL_MULTIBODY_COSTS_CONTACT_IMPULSE_HPP_
10 #define CROCODDYL_MULTIBODY_COSTS_CONTACT_IMPULSE_HPP_
11 
12 #include "crocoddyl/multibody/fwd.hpp"
13 #include "crocoddyl/core/costs/residual.hpp"
14 #include "crocoddyl/multibody/states/multibody.hpp"
15 #include "crocoddyl/multibody/residuals/contact-force.hpp"
16 #include "crocoddyl/multibody/frames.hpp"
17 #include "crocoddyl/core/utils/exception.hpp"
18 
19 namespace crocoddyl {
20 
39 template <typename _Scalar>
41  public:
42  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
43 
44  typedef _Scalar Scalar;
49 
53  typedef typename MathBase::VectorXs VectorXs;
54  typedef typename MathBase::MatrixXs MatrixXs;
55 
65  CostModelContactImpulseTpl(boost::shared_ptr<StateMultibody> state,
66  boost::shared_ptr<ActivationModelAbstract> activation, const FrameForce& fref);
67 
78  CostModelContactImpulseTpl(boost::shared_ptr<StateMultibody> state, const FrameForce& fref, const std::size_t nr);
79 
89  CostModelContactImpulseTpl(boost::shared_ptr<StateMultibody> state, const FrameForce& fref);
90  virtual ~CostModelContactImpulseTpl();
91 
92  protected:
96  virtual void set_referenceImpl(const std::type_info& ti, const void* pv);
97 
101  virtual void get_referenceImpl(const std::type_info& ti, void* pv);
102 
103  using Base::activation_;
104  using Base::nu_;
105  using Base::residual_;
106  using Base::state_;
107  using Base::unone_;
108 
109  protected:
110  FrameForce fref_;
111 };
112 
113 } // namespace crocoddyl
114 
115 /* --- Details -------------------------------------------------------------- */
116 /* --- Details -------------------------------------------------------------- */
117 /* --- Details -------------------------------------------------------------- */
118 #include "crocoddyl/multibody/costs/contact-impulse.hxx"
119 
120 #endif // CROCODDYL_MULTIBODY_COSTS_CONTACT_IMPULSE_HPP_
boost::shared_ptr< ResidualModelAbstract > residual_
Residual model.
Definition: cost-base.hpp:236
Abstract class for cost models.
Definition: cost-base.hpp:49
Residual-based cost.
Definition: residual.hpp:36
Define a contact impulse cost function.
boost::shared_ptr< ActivationModelAbstract > activation_
Activation model.
Definition: cost-base.hpp:235
Define a contact force residual function.
Definition: fwd.hpp:102
State multibody representation.
Definition: fwd.hpp:300
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Return the reference spatial impulse .
VectorXs unone_
No control vector.
Definition: cost-base.hpp:238
FrameForce fref_
Reference spatial impulse .
virtual void get_referenceImpl(const std::type_info &ti, void *pv)
Modify the reference spatial impulse .
std::size_t nu_
Control dimension.
Definition: cost-base.hpp:237
boost::shared_ptr< StateAbstract > state_
State description.
Definition: cost-base.hpp:234
CostModelContactImpulseTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameForce &fref)
Initialize the contact impulse cost model.