9 #ifndef CROCODDYL_MULTIBODY_RESIDUALS_FRAME_ROTATION_HPP_
10 #define CROCODDYL_MULTIBODY_RESIDUALS_FRAME_ROTATION_HPP_
12 #include <pinocchio/multibody/fwd.hpp>
14 #include "crocoddyl/multibody/fwd.hpp"
15 #include "crocoddyl/core/residual-base.hpp"
16 #include "crocoddyl/multibody/states/multibody.hpp"
17 #include "crocoddyl/multibody/data/multibody.hpp"
18 #include "crocoddyl/core/utils/exception.hpp"
35 template <
typename _Scalar>
36 class ResidualModelFrameRotationTpl :
public ResidualModelAbstractTpl<_Scalar> {
38 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
40 typedef _Scalar Scalar;
41 typedef MathBaseTpl<Scalar> MathBase;
42 typedef ResidualModelAbstractTpl<Scalar> Base;
43 typedef ResidualDataFrameRotationTpl<Scalar> Data;
44 typedef StateMultibodyTpl<Scalar> StateMultibody;
45 typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
46 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
47 typedef typename MathBase::VectorXs VectorXs;
48 typedef typename MathBase::Matrix3s Matrix3s;
59 const Matrix3s& Rref,
const std::size_t nu);
71 const Matrix3s& Rref);
81 virtual void calc(
const boost::shared_ptr<ResidualDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
82 const Eigen::Ref<const VectorXs>& u);
91 virtual void calcDiff(
const boost::shared_ptr<ResidualDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
92 const Eigen::Ref<const VectorXs>& u);
97 virtual boost::shared_ptr<ResidualDataAbstract>
createData(DataCollectorAbstract*
const data);
102 pinocchio::FrameIndex
get_id()
const;
112 void set_id(
const pinocchio::FrameIndex
id);
124 virtual void print(std::ostream& os)
const;
134 pinocchio::FrameIndex id_;
137 boost::shared_ptr<typename StateMultibody::PinocchioModel> pin_model_;
140 template <
typename _Scalar>
141 struct ResidualDataFrameRotationTpl :
public ResidualDataAbstractTpl<_Scalar> {
142 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
144 typedef _Scalar Scalar;
145 typedef MathBaseTpl<Scalar> MathBase;
146 typedef ResidualDataAbstractTpl<Scalar> Base;
147 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
148 typedef typename MathBase::Vector3s Vector3s;
149 typedef typename MathBase::Matrix3s Matrix3s;
150 typedef typename MathBase::Matrix3xs Matrix3xs;
151 typedef typename MathBase::Matrix6xs Matrix6xs;
153 template <
template <
typename Scalar>
class Model>
154 ResidualDataFrameRotationTpl(Model<Scalar>*
const model, DataCollectorAbstract*
const data)
155 : Base(model, data),
rJf(3, 3),
fJf(6, model->get_state()->get_nv()) {
161 DataCollectorMultibodyTpl<Scalar>* d =
dynamic_cast<DataCollectorMultibodyTpl<Scalar>*
>(
shared);
163 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorMultibody");
186 #include "crocoddyl/multibody/residuals/frame-rotation.hxx"
188 #endif // CROCODDYL_MULTIBODY_RESIDUALS_FRAME_ROTATION_HPP_