10 #ifndef CROCODDYL_MULTIBODY_COSTS_FRAME_TRANSLATION_HPP_
11 #define CROCODDYL_MULTIBODY_COSTS_FRAME_TRANSLATION_HPP_
13 #include "crocoddyl/multibody/fwd.hpp"
14 #include "crocoddyl/multibody/cost-base.hpp"
15 #include "crocoddyl/multibody/data/multibody.hpp"
16 #include "crocoddyl/multibody/frames.hpp"
17 #include "crocoddyl/core/utils/exception.hpp"
21 template <
typename _Scalar>
24 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
26 typedef _Scalar Scalar;
36 typedef typename MathBase::VectorXs VectorXs;
37 typedef typename MathBase::MatrixXs MatrixXs;
40 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameTranslation& xref,
41 const std::size_t& nu);
43 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameTranslation& xref);
45 const std::size_t& nu);
49 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
50 const Eigen::Ref<const VectorXs>& u);
51 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
52 const Eigen::Ref<const VectorXs>& u);
59 virtual void set_referenceImpl(
const std::type_info& ti,
const void* pv);
60 virtual void get_referenceImpl(
const std::type_info& ti,
void* pv);
62 using Base::activation_;
71 template <
typename _Scalar>
73 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
75 typedef _Scalar Scalar;
79 typedef typename MathBase::VectorXs VectorXs;
80 typedef typename MathBase::MatrixXs MatrixXs;
81 typedef typename MathBase::Matrix3xs Matrix3xs;
82 typedef typename MathBase::Matrix6xs Matrix6xs;
84 template <
template <
typename Scalar>
class Model>
86 :
Base(model, data), J(3, model->get_state()->get_nv()), fJf(6, model->get_state()->get_nv()) {
92 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorMultibody");
96 pinocchio = d->pinocchio;
99 pinocchio::DataTpl<Scalar>* pinocchio;
103 using Base::activation;
121 #include "crocoddyl/multibody/costs/frame-translation.hxx"
123 #endif // CROCODDYL_MULTIBODY_COSTS_FRAME_TRANSLATION_HPP_