9 #ifndef CROCODDYL_MULTIBODY_STATES_MULTIBODY_HPP_
10 #define CROCODDYL_MULTIBODY_STATES_MULTIBODY_HPP_
11 #include "crocoddyl/multibody/fwd.hpp"
12 #include "crocoddyl/core/state-base.hpp"
13 #include <pinocchio/multibody/model.hpp>
17 template <
typename _Scalar>
18 class StateMultibodyTpl :
public StateAbstractTpl<_Scalar> {
20 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
22 typedef _Scalar Scalar;
23 typedef MathBaseTpl<Scalar> MathBase;
24 typedef StateAbstractTpl<Scalar> Base;
25 typedef typename MathBase::VectorXs VectorXs;
26 typedef typename MathBase::MatrixXs MatrixXs;
28 enum JointType { FreeFlyer = 0, Spherical, Simple };
30 explicit StateMultibodyTpl(boost::shared_ptr<pinocchio::ModelTpl<Scalar> > model);
31 virtual ~StateMultibodyTpl();
33 virtual VectorXs zero()
const;
34 virtual VectorXs rand()
const;
35 virtual void diff(
const Eigen::Ref<const VectorXs>& x0,
const Eigen::Ref<const VectorXs>& x1,
36 Eigen::Ref<VectorXs> dxout)
const;
37 virtual void integrate(
const Eigen::Ref<const VectorXs>& x,
const Eigen::Ref<const VectorXs>& dx,
38 Eigen::Ref<VectorXs> xout)
const;
39 virtual void Jdiff(
const Eigen::Ref<const VectorXs>&,
const Eigen::Ref<const VectorXs>&, Eigen::Ref<MatrixXs> Jfirst,
40 Eigen::Ref<MatrixXs> Jsecond,
const Jcomponent firstsecond = both)
const;
42 virtual void Jintegrate(
const Eigen::Ref<const VectorXs>& x,
const Eigen::Ref<const VectorXs>& dx,
43 Eigen::Ref<MatrixXs> Jfirst, Eigen::Ref<MatrixXs> Jsecond,
44 const Jcomponent firstsecond = both,
const AssignmentOp = setto)
const;
45 virtual void JintegrateTransport(
const Eigen::Ref<const VectorXs>& x,
const Eigen::Ref<const VectorXs>& dx,
46 Eigen::Ref<MatrixXs> Jin,
const Jcomponent firstsecond)
const;
48 const boost::shared_ptr<pinocchio::ModelTpl<Scalar> >& get_pinocchio()
const;
60 boost::shared_ptr<pinocchio::ModelTpl<Scalar> > pinocchio_;
62 JointType joint_type_;
70 #include "crocoddyl/multibody/states/multibody.hxx"
72 #endif // CROCODDYL_MULTIBODY_STATES_MULTIBODY_HPP_