crocoddyl
1.8.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
contact-cop-position.hpp
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// BSD 3-Clause License
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//
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// Copyright (C) 2020-2021, University of Duisburg-Essen, 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_COP_POSITION_HPP_
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#define CROCODDYL_MULTIBODY_COSTS_CONTACT_COP_POSITION_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-cop-position.hpp"
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#include "crocoddyl/multibody/frames.hpp"
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#include "crocoddyl/core/activations/quadratic-barrier.hpp"
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#include "crocoddyl/core/utils/exception.hpp"
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namespace
crocoddyl {
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template
<
typename
_Scalar>
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class
CostModelContactCoPPositionTpl
:
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
ResidualModelContactCoPPositionTpl<Scalar>
ResidualModelContactCoPPosition
;
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typedef
ActivationModelQuadraticBarrierTpl<Scalar>
ActivationModelQuadraticBarrier
;
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typedef
ActivationBoundsTpl<Scalar>
ActivationBounds
;
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typedef
CoPSupportTpl<Scalar>
CoPSupport
;
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typedef
FrameCoPSupportTpl<Scalar>
FrameCoPSupport
;
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typedef
typename
MathBase::Matrix3s Matrix3s;
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typedef
typename
MathBase::VectorXs VectorXs;
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CostModelContactCoPPositionTpl
(boost::shared_ptr<StateMultibody> state,
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boost::shared_ptr<ActivationModelAbstract> activation,
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const
FrameCoPSupport
& cop_support,
const
std::size_t nu);
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CostModelContactCoPPositionTpl
(boost::shared_ptr<StateMultibody> state,
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boost::shared_ptr<ActivationModelAbstract> activation,
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const
FrameCoPSupport
& cop_support);
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CostModelContactCoPPositionTpl
(boost::shared_ptr<StateMultibody> state,
const
FrameCoPSupport
& cop_support,
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const
std::size_t nu);
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CostModelContactCoPPositionTpl
(boost::shared_ptr<StateMultibody> state,
const
FrameCoPSupport
& cop_support);
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virtual
~
CostModelContactCoPPositionTpl
();
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protected
:
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virtual
void
set_referenceImpl
(
const
std::type_info& ti,
const
void
* pv);
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virtual
void
get_referenceImpl
(
const
std::type_info& ti,
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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private
:
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FrameCoPSupport
cop_support_;
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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-cop-position.hxx"
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#endif // CROCODDYL_MULTIBODY_COSTS_CONTACT_COP_POSITION_HPP_
crocoddyl::CostModelResidualTpl
Residual-based cost.
Definition:
residual.hpp:36
crocoddyl::ResidualModelContactCoPPositionTpl
Center of pressure residual function.
Definition:
fwd.hpp:112
crocoddyl::MathBaseTpl< Scalar >
crocoddyl::ActivationModelQuadraticBarrierTpl
Definition:
quadratic-barrier.hpp:86
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::FrameCoPSupportTpl< Scalar >
crocoddyl::CostModelAbstractTpl
Abstract class for cost models.
Definition:
cost-base.hpp:49
crocoddyl::ActivationBoundsTpl< Scalar >
crocoddyl::CostModelContactCoPPositionTpl::set_referenceImpl
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Return the frame CoP support.
crocoddyl::StateMultibodyTpl
State multibody representation.
Definition:
fwd.hpp:300
crocoddyl::CostModelContactCoPPositionTpl::CostModelContactCoPPositionTpl
CostModelContactCoPPositionTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameCoPSupport &cop_support, const std::size_t nu)
Initialize the contact CoP cost model.
crocoddyl::CostModelAbstractTpl::state_
boost::shared_ptr< StateAbstract > state_
State description.
Definition:
cost-base.hpp:234
crocoddyl::CoPSupportTpl< Scalar >
crocoddyl::CostModelContactCoPPositionTpl
Define a center of pressure cost function.
Definition:
contact-cop-position.hpp:53
crocoddyl::CostModelAbstractTpl::residual_
boost::shared_ptr< ResidualModelAbstract > residual_
Residual model.
Definition:
cost-base.hpp:236
crocoddyl::ActivationModelAbstractTpl< Scalar >
crocoddyl::CostModelContactCoPPositionTpl::get_referenceImpl
virtual void get_referenceImpl(const std::type_info &ti, void *pv)
Modify the frame CoP support.
crocoddyl::CostModelAbstractTpl::nu_
std::size_t nu_
Control dimension.
Definition:
cost-base.hpp:237
include
crocoddyl
multibody
costs
contact-cop-position.hpp
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