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 pinocchio::ModelTpl<Scalar> PinocchioModel;
26 typedef typename MathBase::VectorXs VectorXs;
27 typedef typename MathBase::MatrixXs MatrixXs;
29 enum JointType { FreeFlyer = 0, Spherical, Simple };
31 explicit StateMultibodyTpl(boost::shared_ptr<PinocchioModel> model);
33 virtual ~StateMultibodyTpl();
35 virtual VectorXs zero()
const;
36 virtual VectorXs rand()
const;
37 virtual void diff(
const Eigen::Ref<const VectorXs>& x0,
const Eigen::Ref<const VectorXs>& x1,
38 Eigen::Ref<VectorXs> dxout)
const;
39 virtual void integrate(
const Eigen::Ref<const VectorXs>& x,
const Eigen::Ref<const VectorXs>& dx,
40 Eigen::Ref<VectorXs> xout)
const;
41 virtual void Jdiff(
const Eigen::Ref<const VectorXs>&,
const Eigen::Ref<const VectorXs>&, Eigen::Ref<MatrixXs> Jfirst,
42 Eigen::Ref<MatrixXs> Jsecond,
const Jcomponent firstsecond = both)
const;
44 virtual void Jintegrate(
const Eigen::Ref<const VectorXs>& x,
const Eigen::Ref<const VectorXs>& dx,
45 Eigen::Ref<MatrixXs> Jfirst, Eigen::Ref<MatrixXs> Jsecond,
46 const Jcomponent firstsecond = both,
const AssignmentOp = setto)
const;
47 virtual void JintegrateTransport(
const Eigen::Ref<const VectorXs>& x,
const Eigen::Ref<const VectorXs>& dx,
48 Eigen::Ref<MatrixXs> Jin,
const Jcomponent firstsecond)
const;
50 const boost::shared_ptr<PinocchioModel>& get_pinocchio()
const;
62 boost::shared_ptr<PinocchioModel> pinocchio_;
64 JointType joint_type_;
72 #include "crocoddyl/multibody/states/multibody.hxx"
74 #endif // CROCODDYL_MULTIBODY_STATES_MULTIBODY_HPP_