9 #ifndef CROCODDYL_MULTIBODY_COSTS_FRAME_PLACEMENT_HPP_
10 #define CROCODDYL_MULTIBODY_COSTS_FRAME_PLACEMENT_HPP_
12 #include "crocoddyl/multibody/fwd.hpp"
13 #include "crocoddyl/multibody/cost-base.hpp"
14 #include "crocoddyl/multibody/data/multibody.hpp"
15 #include "crocoddyl/multibody/frames.hpp"
16 #include "crocoddyl/core/utils/exception.hpp"
20 template <
typename _Scalar>
23 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
25 typedef _Scalar Scalar;
35 typedef typename MathBase::VectorXs VectorXs;
36 typedef typename MathBase::MatrixXs MatrixXs;
39 boost::shared_ptr<ActivationModelAbstract> activation,
const FramePlacement& Fref,
40 const std::size_t& nu);
42 boost::shared_ptr<ActivationModelAbstract> activation,
const FramePlacement& Fref);
44 const std::size_t& nu);
48 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
49 const Eigen::Ref<const VectorXs>& u);
50 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
51 const Eigen::Ref<const VectorXs>& u);
58 virtual void set_referenceImpl(
const std::type_info& ti,
const void* pv);
59 virtual void get_referenceImpl(
const std::type_info& ti,
void* pv);
61 using Base::activation_;
68 pinocchio::SE3Tpl<Scalar> oMf_inv_;
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::Matrix6xs Matrix6xs;
82 typedef typename MathBase::Matrix6s Matrix6s;
83 typedef typename MathBase::Vector6s Vector6s;
85 template <
template <
typename Scalar>
class Model>
88 J(6, model->get_state()->get_nv()),
90 fJf(6, model->get_state()->get_nv()),
91 Arr_J(6, model->get_state()->get_nv()) {
100 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorMultibody");
104 pinocchio = d->pinocchio;
107 pinocchio::DataTpl<Scalar>* pinocchio;
109 pinocchio::SE3Tpl<Scalar> rMf;
115 using Base::activation;
133 #include "crocoddyl/multibody/costs/frame-placement.hxx"
135 #endif // CROCODDYL_MULTIBODY_COSTS_FRAME_PLACEMENT_HPP_