9 #ifndef CROCODDYL_MULTIBODY_COSTS_FRAME_VELOCITY_HPP_
10 #define CROCODDYL_MULTIBODY_COSTS_FRAME_VELOCITY_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"
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 FrameMotion& Fref,
65 const std::size_t& nu);
77 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameMotion& Fref);
109 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
110 const Eigen::Ref<const VectorXs>& u);
119 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
120 const Eigen::Ref<const VectorXs>& u);
127 DEPRECATED(
"Use set_reference<FrameMotionTpl<Scalar> >()",
void set_vref(
const FrameMotion& vref_in));
128 DEPRECATED(
"Use get_reference<FrameMotionTpl<Scalar> >()",
const FrameMotion& get_vref()
const);
148 boost::shared_ptr<typename StateMultibody::PinocchioModel> pin_model_;
151 template <
typename _Scalar>
153 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
155 typedef _Scalar Scalar;
159 typedef typename MathBase::Matrix6xs Matrix6xs;
161 template <
template <
typename Scalar>
class Model>
163 :
Base(model, data), Arr_Rx(6, model->get_state()->get_nv()) {
168 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorMultibody");
172 pinocchio = d->pinocchio;
175 pinocchio::DataTpl<Scalar>* pinocchio;
178 using Base::activation;
196 #include "crocoddyl/multibody/costs/frame-velocity.hxx"
198 #endif // CROCODDYL_MULTIBODY_COSTS_FRAME_VELOCITY_HPP_