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"
18 #include "crocoddyl/core/utils/deprecate.hpp"
22 template <
typename _Scalar>
25 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
27 typedef _Scalar Scalar;
37 typedef typename MathBase::VectorXs VectorXs;
38 typedef typename MathBase::MatrixXs MatrixXs;
41 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameTranslation& xref,
42 const std::size_t& nu);
44 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameTranslation& xref);
46 const std::size_t& nu);
50 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
51 const Eigen::Ref<const VectorXs>& u);
52 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
53 const Eigen::Ref<const VectorXs>& u);
56 DEPRECATED(
"Use set_reference<FrameTranslation<Scalar> >()",
void set_xref(
const FrameTranslation& xref_in));
57 DEPRECATED(
"Use get_reference<FrameTranslation<Scalar> >()",
const FrameTranslation& get_xref()
const);
60 virtual void set_referenceImpl(
const std::type_info& ti,
const void* pv);
61 virtual void get_referenceImpl(
const std::type_info& ti,
void* pv)
const;
63 using Base::activation_;
72 template <
typename _Scalar>
74 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
76 typedef _Scalar Scalar;
80 typedef typename MathBase::VectorXs VectorXs;
81 typedef typename MathBase::MatrixXs MatrixXs;
82 typedef typename MathBase::Matrix3xs Matrix3xs;
83 typedef typename MathBase::Matrix6xs Matrix6xs;
85 template <
template <
typename Scalar>
class Model>
87 :
Base(model, data), J(3, model->get_state()->get_nv()), fJf(6, model->get_state()->get_nv()) {
93 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorMultibody");
97 pinocchio = d->pinocchio;
100 pinocchio::DataTpl<Scalar>* pinocchio;
104 using Base::activation;
122 #include "crocoddyl/multibody/costs/frame-translation.hxx"
124 #endif // CROCODDYL_MULTIBODY_COSTS_FRAME_TRANSLATION_HPP_