9 #ifndef CROCODDYL_MULTIBODY_ACTIONS_CONTACT_FWDDYN_HPP_
10 #define CROCODDYL_MULTIBODY_ACTIONS_CONTACT_FWDDYN_HPP_
14 #include "crocoddyl/multibody/fwd.hpp"
15 #include "crocoddyl/core/diff-action-base.hpp"
16 #include "crocoddyl/multibody/states/multibody.hpp"
17 #include "crocoddyl/multibody/actuations/floating-base.hpp"
18 #include "crocoddyl/multibody/contacts/multiple-contacts.hpp"
19 #include "crocoddyl/multibody/data/contacts.hpp"
20 #include "crocoddyl/multibody/costs/cost-sum.hpp"
24 template <
typename _Scalar>
27 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
29 typedef _Scalar Scalar;
38 typedef typename MathBase::VectorXs VectorXs;
39 typedef typename MathBase::MatrixXs MatrixXs;
42 boost::shared_ptr<ActuationModelFloatingBase> actuation,
43 boost::shared_ptr<ContactModelMultiple> contacts,
44 boost::shared_ptr<CostModelSum> costs,
45 const Scalar& JMinvJt_damping = Scalar(0.),
46 const bool& enable_force =
false);
49 virtual void calc(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
50 const Eigen::Ref<const VectorXs>& u);
51 virtual void calcDiff(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
52 const Eigen::Ref<const VectorXs>& x,
const Eigen::Ref<const VectorXs>& u);
53 virtual boost::shared_ptr<DifferentialActionDataAbstract> createData();
55 const boost::shared_ptr<ActuationModelFloatingBase>& get_actuation()
const;
56 const boost::shared_ptr<ContactModelMultiple>& get_contacts()
const;
57 const boost::shared_ptr<CostModelSum>& get_costs()
const;
58 pinocchio::ModelTpl<Scalar>& get_pinocchio()
const;
59 const VectorXs& get_armature()
const;
60 const Scalar& get_damping_factor()
const;
62 void set_armature(
const VectorXs& armature);
63 void set_damping_factor(
const Scalar& damping);
75 boost::shared_ptr<ActuationModelFloatingBase> actuation_;
76 boost::shared_ptr<ContactModelMultiple> contacts_;
77 boost::shared_ptr<CostModelSum> costs_;
78 pinocchio::ModelTpl<Scalar>& pinocchio_;
81 Scalar JMinvJt_damping_;
85 template <
typename _Scalar>
87 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
88 typedef _Scalar Scalar;
91 typedef typename MathBase::VectorXs VectorXs;
92 typedef typename MathBase::MatrixXs MatrixXs;
94 template <
template <
typename Scalar>
class Model>
97 pinocchio(pinocchio::DataTpl<Scalar>(model->get_pinocchio())),
98 multibody(&pinocchio, model->get_actuation()->createData(), model->get_contacts()->createData(&pinocchio)),
99 costs(model->get_costs()->createData(&multibody)),
100 Kinv(model->get_state()->get_nv() + model->get_contacts()->get_nc_total(),
101 model->get_state()->get_nv() + model->get_contacts()->get_nc_total()),
102 df_dx(model->get_contacts()->get_nc_total(), model->get_state()->get_ndx()),
103 df_du(model->get_contacts()->get_nc_total(), model->get_nu()) {
104 costs->shareMemory(
this);
110 pinocchio::DataTpl<Scalar> pinocchio;
112 boost::shared_ptr<CostDataSumTpl<Scalar> > costs;
134 #include <crocoddyl/multibody/actions/contact-fwddyn.hxx>
136 #endif // CROCODDYL_MULTIBODY_ACTIONS_CONTACT_FWDDYN_HPP_