9 #ifndef CROCODDYL_MULTIBODY_ACTIONS_IMPULSE_FWDDYN_HPP_
10 #define CROCODDYL_MULTIBODY_ACTIONS_IMPULSE_FWDDYN_HPP_
14 #include "crocoddyl/multibody/fwd.hpp"
15 #include "crocoddyl/core/utils/exception.hpp"
16 #include "crocoddyl/core/action-base.hpp"
17 #include "crocoddyl/core/costs/cost-sum.hpp"
18 #include "crocoddyl/multibody/states/multibody.hpp"
19 #include "crocoddyl/multibody/actuations/floating-base.hpp"
20 #include "crocoddyl/multibody/impulses/multiple-impulses.hpp"
21 #include "crocoddyl/multibody/data/impulses.hpp"
22 #include "crocoddyl/multibody/actions/impulse-fwddyn.hpp"
24 #include <pinocchio/algorithm/compute-all-terms.hpp>
25 #include <pinocchio/algorithm/frames.hpp>
26 #include <pinocchio/algorithm/contact-dynamics.hpp>
27 #include <pinocchio/algorithm/centroidal.hpp>
28 #include <pinocchio/algorithm/rnea-derivatives.hpp>
29 #include <pinocchio/algorithm/kinematics-derivatives.hpp>
33 template <
typename _Scalar>
36 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
38 typedef _Scalar Scalar;
46 typedef typename MathBase::VectorXs VectorXs;
47 typedef typename MathBase::MatrixXs MatrixXs;
50 boost::shared_ptr<ImpulseModelMultiple> impulses,
51 boost::shared_ptr<CostModelSum> costs,
const Scalar r_coeff = Scalar(0.),
52 const Scalar JMinvJt_damping = Scalar(0.),
const bool enable_force =
false);
55 virtual void calc(
const boost::shared_ptr<ActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
56 const Eigen::Ref<const VectorXs>& u);
57 virtual void calcDiff(
const boost::shared_ptr<ActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
58 const Eigen::Ref<const VectorXs>& u);
59 virtual boost::shared_ptr<ActionDataAbstract>
createData();
60 virtual bool checkData(
const boost::shared_ptr<ActionDataAbstract>& data);
62 const boost::shared_ptr<ImpulseModelMultiple>& get_impulses()
const;
63 const boost::shared_ptr<CostModelSum>& get_costs()
const;
64 pinocchio::ModelTpl<Scalar>& get_pinocchio()
const;
65 const VectorXs& get_armature()
const;
66 const Scalar get_restitution_coefficient()
const;
67 const Scalar get_damping_factor()
const;
69 void set_armature(
const VectorXs& armature);
70 void set_restitution_coefficient(
const Scalar r_coeff);
71 void set_damping_factor(
const Scalar damping);
76 template <
class Scalar>
89 boost::shared_ptr<ImpulseModelMultiple> impulses_;
90 boost::shared_ptr<CostModelSum> costs_;
91 pinocchio::ModelTpl<Scalar>& pinocchio_;
95 Scalar JMinvJt_damping_;
97 pinocchio::MotionTpl<Scalar> gravity_;
100 template <
typename _Scalar>
102 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
103 typedef _Scalar Scalar;
106 typedef typename MathBase::VectorXs VectorXs;
107 typedef typename MathBase::MatrixXs MatrixXs;
109 template <
template <
typename Scalar>
class Model>
112 pinocchio(pinocchio::DataTpl<Scalar>(model->get_pinocchio())),
113 multibody(&pinocchio, model->get_impulses()->createData(&pinocchio)),
114 costs(model->get_costs()->createData(&multibody)),
115 vnone(model->get_state()->get_nv()),
116 Kinv(model->get_state()->get_nv() + model->get_impulses()->get_ni_total(),
117 model->get_state()->get_nv() + model->get_impulses()->get_ni_total()),
118 df_dx(model->get_impulses()->get_ni_total(), model->get_state()->get_ndx()),
119 dgrav_dq(model->get_state()->get_nv(), model->get_state()->get_nv()) {
120 costs->shareMemory(
this);
127 pinocchio::DataTpl<Scalar> pinocchio;
129 boost::shared_ptr<CostDataSumTpl<Scalar> > costs;
141 #include <crocoddyl/multibody/actions/impulse-fwddyn.hxx>
143 #endif // CROCODDYL_MULTIBODY_ACTIONS_IMPULSE_FWDDYN_HPP_