9 #ifndef CROCODDYL_MULTIBODY_RESIDUALS_MOMENTUM_HPP_
10 #define CROCODDYL_MULTIBODY_RESIDUALS_MOMENTUM_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 ResidualModelCentroidalMomentumTpl :
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 ResidualDataCentroidalMomentumTpl<Scalar> Data;
41 typedef StateMultibodyTpl<Scalar> StateMultibody;
42 typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
43 typedef ActivationModelAbstractTpl<Scalar> ActivationModelAbstract;
44 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
45 typedef typename MathBase::Vector6s Vector6s;
46 typedef typename MathBase::VectorXs VectorXs;
47 typedef typename MathBase::Matrix6xs Matrix6xs;
57 const std::size_t nu);
77 virtual void calc(
const boost::shared_ptr<ResidualDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
78 const Eigen::Ref<const VectorXs>& u);
87 virtual void calcDiff(
const boost::shared_ptr<ResidualDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
88 const Eigen::Ref<const VectorXs>& u);
93 virtual boost::shared_ptr<ResidualDataAbstract>
createData(DataCollectorAbstract*
const data);
110 virtual void print(std::ostream& os)
const;
120 boost::shared_ptr<typename StateMultibody::PinocchioModel> pin_model_;
123 template <
typename _Scalar>
124 struct ResidualDataCentroidalMomentumTpl :
public ResidualDataAbstractTpl<_Scalar> {
125 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
127 typedef _Scalar Scalar;
128 typedef MathBaseTpl<Scalar> MathBase;
129 typedef ResidualDataAbstractTpl<Scalar> Base;
130 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
131 typedef typename MathBase::Matrix6xs Matrix6xs;
133 template <
template <
typename Scalar>
class Model>
134 ResidualDataCentroidalMomentumTpl(Model<Scalar>*
const model, DataCollectorAbstract*
const data)
135 : Base(model, data),
dhd_dq(6, model->get_state()->get_nv()),
dhd_dv(6, model->get_state()->get_nv()) {
140 DataCollectorMultibodyTpl<Scalar>* d =
dynamic_cast<DataCollectorMultibodyTpl<Scalar>*
>(
shared);
142 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorMultibody");
163 #include "crocoddyl/multibody/residuals/centroidal-momentum.hxx"
165 #endif // CROCODDYL_MULTIBODY_RESIDUALS_MOMENTUM_HPP_