9 #ifndef CROCODDYL_MULTIBODY_IMPULSE_BASE_HPP_ 10 #define CROCODDYL_MULTIBODY_IMPULSE_BASE_HPP_ 12 #include "crocoddyl/multibody/fwd.hpp" 13 #include "crocoddyl/multibody/states/multibody.hpp" 14 #include "crocoddyl/multibody/force-base.hpp" 15 #include "crocoddyl/core/utils/to-string.hpp" 16 #include "crocoddyl/core/utils/deprecate.hpp" 20 template <
typename _Scalar>
21 class ImpulseModelAbstractTpl {
23 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
25 typedef _Scalar Scalar;
26 typedef MathBaseTpl<Scalar> MathBase;
27 typedef ImpulseDataAbstractTpl<Scalar> ImpulseDataAbstract;
28 typedef StateMultibodyTpl<Scalar> StateMultibody;
29 typedef typename MathBase::VectorXs VectorXs;
30 typedef typename MathBase::MatrixXs MatrixXs;
32 ImpulseModelAbstractTpl(boost::shared_ptr<StateMultibody> state,
const std::size_t nc);
33 virtual ~ImpulseModelAbstractTpl();
35 virtual void calc(
const boost::shared_ptr<ImpulseDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x) = 0;
36 virtual void calcDiff(
const boost::shared_ptr<ImpulseDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x) = 0;
38 virtual void updateForce(
const boost::shared_ptr<ImpulseDataAbstract>& data,
const VectorXs& force) = 0;
39 void updateForceDiff(
const boost::shared_ptr<ImpulseDataAbstract>& data,
const MatrixXs& df_dx)
const;
40 void setZeroForce(
const boost::shared_ptr<ImpulseDataAbstract>& data)
const;
41 void setZeroForceDiff(
const boost::shared_ptr<ImpulseDataAbstract>& data)
const;
43 virtual boost::shared_ptr<ImpulseDataAbstract> createData(pinocchio::DataTpl<Scalar>*
const data);
45 const boost::shared_ptr<StateMultibody>& get_state()
const;
46 std::size_t get_nc()
const;
47 DEPRECATED(
"Use get_nc().", std::size_t get_ni()
const;)
48 std::size_t get_nu()
const;
53 template <
class Scalar>
54 friend std::ostream& operator<<(std::ostream& os, const ImpulseModelAbstractTpl<Scalar>& model);
61 virtual void print(std::ostream& os)
const;
64 boost::shared_ptr<StateMultibody> state_;
68 template <
typename _Scalar>
69 struct ImpulseDataAbstractTpl :
public ForceDataAbstractTpl<_Scalar> {
70 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
72 typedef _Scalar Scalar;
73 typedef MathBaseTpl<Scalar> MathBase;
74 typedef ForceDataAbstractTpl<Scalar> Base;
75 typedef typename MathBase::VectorXs VectorXs;
76 typedef typename MathBase::MatrixXs MatrixXs;
78 template <
template <
typename Scalar>
class Model>
79 ImpulseDataAbstractTpl(Model<Scalar>*
const model, pinocchio::DataTpl<Scalar>*
const data)
80 : Base(model, data), dv0_dq(model->get_nc(), model->get_state()->get_nv()) {
83 virtual ~ImpulseDataAbstractTpl() {}
90 using Base::pinocchio;
99 #include "crocoddyl/multibody/impulse-base.hxx" 101 #endif // CROCODDYL_MULTIBODY_IMPULSE_BASE_HPP_
virtual void print(std::ostream &os) const
Print relevant information of the impulse model.