9 #ifndef CROCODDYL_MULTIBODY_RESIDUALS_COM_POSITION_HPP_
10 #define CROCODDYL_MULTIBODY_RESIDUALS_COM_POSITION_HPP_
12 #include "crocoddyl/multibody/fwd.hpp"
13 #include "crocoddyl/core/residual-base.hpp"
14 #include "crocoddyl/multibody/states/multibody.hpp"
15 #include "crocoddyl/multibody/data/multibody.hpp"
32 template <
typename _Scalar>
33 class ResidualModelCoMPositionTpl :
public ResidualModelAbstractTpl<_Scalar> {
35 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
37 typedef _Scalar Scalar;
38 typedef MathBaseTpl<Scalar> MathBase;
39 typedef ResidualModelAbstractTpl<Scalar> Base;
40 typedef ResidualDataCoMPositionTpl<Scalar> Data;
41 typedef StateMultibodyTpl<Scalar> StateMultibody;
42 typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
43 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
44 typedef typename MathBase::Vector3s Vector3s;
45 typedef typename MathBase::VectorXs VectorXs;
74 virtual void calc(
const boost::shared_ptr<ResidualDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
75 const Eigen::Ref<const VectorXs>& u);
84 virtual void calcDiff(
const boost::shared_ptr<ResidualDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
85 const Eigen::Ref<const VectorXs>& u);
86 virtual boost::shared_ptr<ResidualDataAbstract> createData(DataCollectorAbstract*
const data);
103 virtual void print(std::ostream& os)
const;
116 template <
typename _Scalar>
117 struct ResidualDataCoMPositionTpl :
public ResidualDataAbstractTpl<_Scalar> {
118 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
120 typedef _Scalar Scalar;
121 typedef MathBaseTpl<Scalar> MathBase;
122 typedef ResidualDataAbstractTpl<Scalar> Base;
123 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
124 typedef typename MathBase::Matrix3xs Matrix3xs;
126 template <
template <
typename Scalar>
class Model>
127 ResidualDataCoMPositionTpl(Model<Scalar>*
const model, DataCollectorAbstract*
const data) : Base(model, data) {
129 DataCollectorMultibodyTpl<Scalar>* d =
dynamic_cast<DataCollectorMultibodyTpl<Scalar>*
>(
shared);
131 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorMultibody");
150 #include "crocoddyl/multibody/residuals/com-position.hxx"
152 #endif // CROCODDYL_MULTIBODY_RESIDUALS_COM_POSITION_HPP_