crocoddyl  1.8.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
impulse-cop-position.hpp
1 // BSD 3-Clause License
3 //
4 // Copyright (C) 2020-2021, University of Duisburg-Essen, University of Edinburgh, INRIA
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
8 
9 #ifndef CROCODDYL_MULTIBODY_COSTS_IMPULSE_COP_POSITION_HPP_
10 #define CROCODDYL_MULTIBODY_COSTS_IMPULSE_COP_POSITION_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-cop-position.hpp"
16 #include "crocoddyl/multibody/frames.hpp"
17 #include "crocoddyl/core/activations/quadratic-barrier.hpp"
18 #include "crocoddyl/core/utils/exception.hpp"
19 
20 namespace crocoddyl {
21 
53 template <typename _Scalar>
55  public:
56  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
57 
58  typedef _Scalar Scalar;
67  typedef typename MathBase::VectorXs VectorXs;
68  typedef typename MathBase::MatrixXs MatrixXs;
69  typedef typename MathBase::Matrix3s Matrix3s;
70 
78  CostModelImpulseCoPPositionTpl(boost::shared_ptr<StateMultibody> state,
79  boost::shared_ptr<ActivationModelAbstract> activation,
80  const FrameCoPSupport& cop_support);
81 
91  CostModelImpulseCoPPositionTpl(boost::shared_ptr<StateMultibody> state, const FrameCoPSupport& cop_support);
93 
94  protected:
98  virtual void set_referenceImpl(const std::type_info& ti, const void* pv);
99 
103  virtual void get_referenceImpl(const std::type_info& ti, void* pv);
104 
105  using Base::activation_;
106  using Base::nu_;
107  using Base::residual_;
108  using Base::state_;
109 
110  private:
111  FrameCoPSupport cop_support_;
112 };
113 
114 } // namespace crocoddyl
115 
116 /* --- Details -------------------------------------------------------------- */
117 /* --- Details -------------------------------------------------------------- */
118 /* --- Details -------------------------------------------------------------- */
119 #include "crocoddyl/multibody/costs/impulse-cop-position.hxx"
120 
121 #endif // CROCODDYL_MULTIBODY_COSTS_IMPULSE_COP_POSITION_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
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Return the frame CoP support.
boost::shared_ptr< ActivationModelAbstract > activation_
Activation model.
Definition: cost-base.hpp:235
State multibody representation.
Definition: fwd.hpp:300
virtual void get_referenceImpl(const std::type_info &ti, void *pv)
Modify the frame CoP support.
std::size_t nu_
Control dimension.
Definition: cost-base.hpp:237
boost::shared_ptr< StateAbstract > state_
State description.
Definition: cost-base.hpp:234
CostModelImpulseCoPPositionTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameCoPSupport &cop_support)
Initialize the impulse CoP cost model.
Define a center of pressure cost function.