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/core/cost-base.hpp"
14 #include "crocoddyl/multibody/states/multibody.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"
38 template <
typename _Scalar>
41 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
43 typedef _Scalar Scalar;
52 typedef typename MathBase::VectorXs VectorXs;
63 boost::shared_ptr<ActivationModelAbstract> activation,
const FramePlacement& Fref,
64 const std::size_t& nu);
76 boost::shared_ptr<ActivationModelAbstract> activation,
const FramePlacement& Fref);
88 const std::size_t& nu);
110 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
111 const Eigen::Ref<const VectorXs>& u);
120 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
121 const Eigen::Ref<const VectorXs>& u);
128 DEPRECATED(
"Use set_reference<FramePlacementTpl<Scalar> >()",
void set_Mref(
const FramePlacement& Mref_in));
129 DEPRECATED(
"Use get_reference<FramePlacementTpl<Scalar> >()",
const FramePlacement& get_Mref()
const);
149 pinocchio::SE3Tpl<Scalar> oMf_inv_;
150 boost::shared_ptr<typename StateMultibody::PinocchioModel> pin_model_;
153 template <
typename _Scalar>
155 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
157 typedef _Scalar Scalar;
161 typedef typename MathBase::Matrix6xs Matrix6xs;
162 typedef typename MathBase::Matrix6s Matrix6s;
163 typedef typename MathBase::Vector6s Vector6s;
165 template <
template <
typename Scalar>
class Model>
168 J(6, model->get_state()->get_nv()),
170 fJf(6, model->get_state()->get_nv()),
171 Arr_J(6, model->get_state()->get_nv()) {
180 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorMultibody");
184 pinocchio = d->pinocchio;
187 pinocchio::DataTpl<Scalar>* pinocchio;
189 pinocchio::SE3Tpl<Scalar> rMf;
195 using Base::activation;
213 #include "crocoddyl/multibody/costs/frame-placement.hxx"
215 #endif // CROCODDYL_MULTIBODY_COSTS_FRAME_PLACEMENT_HPP_