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/core/cost-base.hpp"
15 #include "crocoddyl/multibody/states/multibody.hpp"
16 #include "crocoddyl/multibody/data/multibody.hpp"
17 #include "crocoddyl/multibody/frames.hpp"
18 #include "crocoddyl/core/utils/exception.hpp"
19 #include "crocoddyl/core/utils/deprecate.hpp"
39 template <
typename _Scalar>
42 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
44 typedef _Scalar Scalar;
53 typedef typename MathBase::VectorXs VectorXs;
64 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameTranslation& xref,
65 const std::size_t& nu);
77 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameTranslation& xref);
89 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<FrameTranslation<Scalar> >()",
void set_xref(
const FrameTranslation& xref_in));
129 DEPRECATED(
"Use get_reference<FrameTranslation<Scalar> >()",
const FrameTranslation& get_xref()
const);
149 boost::shared_ptr<typename StateMultibody::PinocchioModel> pin_model_;
152 template <
typename _Scalar>
154 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
156 typedef _Scalar Scalar;
160 typedef typename MathBase::Matrix3xs Matrix3xs;
161 typedef typename MathBase::Matrix6xs Matrix6xs;
163 template <
template <
typename Scalar>
class Model>
165 :
Base(model, data), J(3, model->get_state()->get_nv()), fJf(6, model->get_state()->get_nv()) {
171 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorMultibody");
175 pinocchio = d->pinocchio;
178 pinocchio::DataTpl<Scalar>* pinocchio;
182 using Base::activation;
200 #include "crocoddyl/multibody/costs/frame-translation.hxx"
202 #endif // CROCODDYL_MULTIBODY_COSTS_FRAME_TRANSLATION_HPP_