crocoddyl
1.8.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
contact-force.hpp
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// BSD 3-Clause License
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//
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// Copyright (C) 2019-2021, LAAS-CNRS, University of Edinburgh, INRIA
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// Copyright note valid unless otherwise stated in individual files.
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// All rights reserved.
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#ifndef CROCODDYL_MULTIBODY_COSTS_CONTACT_FORCE_HPP_
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#define CROCODDYL_MULTIBODY_COSTS_CONTACT_FORCE_HPP_
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#include "crocoddyl/multibody/fwd.hpp"
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#include "crocoddyl/core/costs/residual.hpp"
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#include "crocoddyl/multibody/states/multibody.hpp"
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#include "crocoddyl/multibody/residuals/contact-force.hpp"
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#include "crocoddyl/multibody/frames.hpp"
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namespace
crocoddyl {
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template
<
typename
_Scalar>
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class
CostModelContactForceTpl
:
public
CostModelResidualTpl
<_Scalar> {
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public
:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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typedef
_Scalar Scalar;
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typedef
MathBaseTpl<Scalar>
MathBase
;
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typedef
CostModelResidualTpl<Scalar>
Base
;
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typedef
StateMultibodyTpl<Scalar>
StateMultibody
;
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typedef
ActivationModelAbstractTpl<Scalar>
ActivationModelAbstract
;
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typedef
ResidualModelContactForceTpl<Scalar>
ResidualModelContactForce
;
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typedef
FrameForceTpl<Scalar>
FrameForce
;
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typedef
typename
MathBase::VectorXs VectorXs;
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typedef
typename
MathBase::MatrixXs MatrixXs;
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CostModelContactForceTpl
(boost::shared_ptr<StateMultibody> state,
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boost::shared_ptr<ActivationModelAbstract> activation,
const
FrameForce
& fref,
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const
std::size_t nu);
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CostModelContactForceTpl
(boost::shared_ptr<StateMultibody> state,
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boost::shared_ptr<ActivationModelAbstract> activation,
const
FrameForce
& fref);
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CostModelContactForceTpl
(boost::shared_ptr<StateMultibody> state,
const
FrameForce
& fref,
const
std::size_t nr,
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const
std::size_t nu);
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CostModelContactForceTpl
(boost::shared_ptr<StateMultibody> state,
const
FrameForce
& fref,
const
std::size_t nr);
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CostModelContactForceTpl
(boost::shared_ptr<StateMultibody> state,
const
FrameForce
& fref);
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virtual
~
CostModelContactForceTpl
();
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protected
:
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virtual
void
get_referenceImpl
(
const
std::type_info& ti,
void
* pv);
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virtual
void
set_referenceImpl
(
const
std::type_info& ti,
const
void
* pv);
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using
Base::activation_
;
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using
Base::nu_
;
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using
Base::residual_
;
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using
Base::state_
;
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using
Base::unone_
;
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protected
:
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FrameForce
fref_
;
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};
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}
// namespace crocoddyl
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/* --- Details -------------------------------------------------------------- */
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/* --- Details -------------------------------------------------------------- */
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/* --- Details -------------------------------------------------------------- */
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#include "crocoddyl/multibody/costs/contact-force.hxx"
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#endif // CROCODDYL_MULTIBODY_COSTS_CONTACT_FORCE_HPP_
crocoddyl::CostModelResidualTpl
Residual-based cost.
Definition:
residual.hpp:36
crocoddyl::CostModelContactForceTpl::get_referenceImpl
virtual void get_referenceImpl(const std::type_info &ti, void *pv)
Modify the reference spatial contact force .
crocoddyl::MathBaseTpl< Scalar >
crocoddyl::CostModelAbstractTpl::unone_
VectorXs unone_
No control vector.
Definition:
cost-base.hpp:238
crocoddyl::CostModelAbstractTpl::activation_
boost::shared_ptr< ActivationModelAbstract > activation_
Activation model.
Definition:
cost-base.hpp:235
crocoddyl::CostModelAbstractTpl
Abstract class for cost models.
Definition:
cost-base.hpp:49
crocoddyl::CostModelContactForceTpl
Define a contact force cost function.
Definition:
contact-force.hpp:39
crocoddyl::StateMultibodyTpl
State multibody representation.
Definition:
fwd.hpp:300
crocoddyl::CostModelAbstractTpl::state_
boost::shared_ptr< StateAbstract > state_
State description.
Definition:
cost-base.hpp:234
crocoddyl::CostModelContactForceTpl::CostModelContactForceTpl
CostModelContactForceTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameForce &fref, const std::size_t nu)
Initialize the contact force cost model.
crocoddyl::CostModelContactForceTpl::fref_
FrameForce fref_
Reference spatial contact force .
Definition:
contact-force.hpp:137
crocoddyl::CostModelAbstractTpl::residual_
boost::shared_ptr< ResidualModelAbstract > residual_
Residual model.
Definition:
cost-base.hpp:236
crocoddyl::ResidualModelContactForceTpl
Define a contact force residual function.
Definition:
fwd.hpp:102
crocoddyl::ActivationModelAbstractTpl< Scalar >
crocoddyl::FrameForceTpl< Scalar >
crocoddyl::CostModelContactForceTpl::set_referenceImpl
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Return the reference spatial contact force .
crocoddyl::CostModelAbstractTpl::nu_
std::size_t nu_
Control dimension.
Definition:
cost-base.hpp:237
include
crocoddyl
multibody
costs
contact-force.hpp
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