9 #ifndef CROCODDYL_MULTIBODY_ACTUATIONS_FLOATING_BASE_HPP_ 10 #define CROCODDYL_MULTIBODY_ACTUATIONS_FLOATING_BASE_HPP_ 12 #include "crocoddyl/multibody/fwd.hpp" 13 #include "crocoddyl/core/utils/exception.hpp" 14 #include "crocoddyl/core/actuation-base.hpp" 15 #include "crocoddyl/multibody/states/multibody.hpp" 18 template <
typename _Scalar>
21 typedef _Scalar Scalar;
26 typedef typename MathBase::VectorXs VectorXs;
27 typedef typename MathBase::MatrixXs MatrixXs;
30 : Base(state, state->get_nv() - state->get_pinocchio()->joints[1].nv()){};
33 virtual void calc(
const boost::shared_ptr<Data>& data,
const Eigen::Ref<const VectorXs>& ,
34 const Eigen::Ref<const VectorXs>& u) {
35 if (static_cast<std::size_t>(u.size()) != nu_) {
36 throw_pretty(
"Invalid argument: " 37 <<
"u has wrong dimension (it should be " + std::to_string(nu_) +
")");
39 data->tau.tail(nu_) = u;
43 virtual void calcDiff(
const boost::shared_ptr<Data>& data,
const Eigen::Ref<const VectorXs>& ,
44 const Eigen::Ref<const VectorXs>& ) {
46 virtual void calcDiff(
const boost::shared_ptr<Data>&,
const Eigen::Ref<const VectorXs>& ,
47 const Eigen::Ref<const VectorXs>& ) {
50 assert_pretty(data->dtau_dx == MatrixXs::Zero(state_->get_nv(), state_->get_ndx()),
"dtau_dx has wrong value");
51 assert_pretty(data->dtau_du == dtau_du_,
"dtau_du has wrong value");
53 virtual boost::shared_ptr<Data> createData() {
55 boost::shared_ptr<StateMultibody> state = boost::static_pointer_cast<StateMultibody>(state_);
56 boost::shared_ptr<Data> data = boost::allocate_shared<Data>(Eigen::aligned_allocator<Data>(),
this);
57 data->dtau_du.diagonal(-state->get_pinocchio()->joints[1].nv()).fill((Scalar)1.);
59 dtau_du_ = data->dtau_du;
76 #endif // CROCODDYL_MULTIBODY_ACTUATIONS_FLOATING_BASE_HPP_
State multibody representation.