9 #ifndef CROCODDYL_MULTIBODY_COSTS_IMPULSE_FRICTION_CONE_HPP_
10 #define CROCODDYL_MULTIBODY_COSTS_IMPULSE_FRICTION_CONE_HPP_
12 #include "crocoddyl/multibody/fwd.hpp"
13 #include "crocoddyl/core/cost-base.hpp"
14 #include "crocoddyl/multibody/states/multibody.hpp"
15 #include "crocoddyl/multibody/impulse-base.hpp"
16 #include "crocoddyl/multibody/impulses/impulse-3d.hpp"
17 #include "crocoddyl/multibody/impulses/impulse-6d.hpp"
18 #include "crocoddyl/multibody/data/impulses.hpp"
19 #include "crocoddyl/multibody/frames.hpp"
20 #include "crocoddyl/multibody/friction-cone.hpp"
21 #include "crocoddyl/core/utils/exception.hpp"
22 #include "crocoddyl/core/utils/deprecate.hpp"
48 template <
typename _Scalar>
51 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
53 typedef _Scalar Scalar;
62 typedef typename MathBase::VectorXs VectorXs;
63 typedef typename MathBase::MatrixXs MatrixXs;
64 typedef typename MathBase::MatrixX3s MatrixX3s;
74 boost::shared_ptr<ActivationModelAbstract> activation,
95 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
96 const Eigen::Ref<const VectorXs>& u);
105 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
106 const Eigen::Ref<const VectorXs>& u);
113 DEPRECATED(
"Use set_reference<FrameFrictionConeTpl<Scalar> >()",
void set_fref(
const FrameFrictionCone& fref));
114 DEPRECATED(
"Use get_reference<FrameFrictionConeTpl<Scalar> >()",
const FrameFrictionCone& get_fref()
const);
134 template <
typename _Scalar>
136 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
138 typedef _Scalar Scalar;
146 template <
template <
typename Scalar>
class Model>
148 :
Base(model, data), more_than_3_constraints(
false) {
152 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorImpulse");
157 const boost::shared_ptr<StateMultibody>& state = boost::static_pointer_cast<StateMultibody>(model->get_state());
158 std::string frame_name = state->get_pinocchio()->frames[fref.id].name;
159 bool found_impulse =
false;
160 for (
typename ImpulseModelMultiple::ImpulseDataContainer::iterator it = d->impulses->impulses.begin();
161 it != d->impulses->impulses.end(); ++it) {
162 if (it->second->frame == fref.id) {
165 found_impulse =
true;
166 impulse = it->second;
171 more_than_3_constraints =
true;
172 found_impulse =
true;
173 impulse = it->second;
176 throw_pretty(
"Domain error: there isn't defined at least a 3d impulse for " + frame_name);
180 if (!found_impulse) {
181 throw_pretty(
"Domain error: there isn't defined impulse data for " + frame_name);
185 boost::shared_ptr<ImpulseDataAbstractTpl<Scalar> > impulse;
186 bool more_than_3_constraints;
187 using Base::activation;
201 #include "crocoddyl/multibody/costs/impulse-friction-cone.hxx"
203 #endif // CROCODDYL_MULTIBODY_COSTS_IMPULSE_FRICTION_CONE_HPP_