9 #ifndef CROCODDYL_MULTIBODY_RESIDUALS_FRAME_VELOCITY_HPP_
10 #define CROCODDYL_MULTIBODY_RESIDUALS_FRAME_VELOCITY_HPP_
12 #include <pinocchio/multibody/fwd.hpp>
13 #include <pinocchio/spatial/motion.hpp>
15 #include "crocoddyl/multibody/fwd.hpp"
16 #include "crocoddyl/core/residual-base.hpp"
17 #include "crocoddyl/multibody/states/multibody.hpp"
18 #include "crocoddyl/multibody/data/multibody.hpp"
19 #include "crocoddyl/core/utils/exception.hpp"
37 template <
typename _Scalar>
38 class ResidualModelFrameVelocityTpl :
public ResidualModelAbstractTpl<_Scalar> {
40 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
42 typedef _Scalar Scalar;
43 typedef MathBaseTpl<Scalar> MathBase;
44 typedef ResidualModelAbstractTpl<Scalar> Base;
45 typedef ResidualDataFrameVelocityTpl<Scalar> Data;
46 typedef StateMultibodyTpl<Scalar> StateMultibody;
47 typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
48 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
49 typedef pinocchio::MotionTpl<Scalar> Motion;
50 typedef typename MathBase::VectorXs VectorXs;
62 const Motion& velocity,
const pinocchio::ReferenceFrame type,
const std::size_t nu);
75 const Motion& velocity,
const pinocchio::ReferenceFrame type);
85 virtual void calc(
const boost::shared_ptr<ResidualDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
86 const Eigen::Ref<const VectorXs>& u);
95 virtual void calcDiff(
const boost::shared_ptr<ResidualDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
96 const Eigen::Ref<const VectorXs>& u);
101 virtual boost::shared_ptr<ResidualDataAbstract>
createData(DataCollectorAbstract*
const data);
106 pinocchio::FrameIndex
get_id()
const;
116 pinocchio::ReferenceFrame
get_type()
const;
121 void set_id(
const pinocchio::FrameIndex
id);
131 void set_type(
const pinocchio::ReferenceFrame type);
138 virtual void print(std::ostream& os)
const;
148 pinocchio::FrameIndex id_;
150 pinocchio::ReferenceFrame type_;
151 boost::shared_ptr<typename StateMultibody::PinocchioModel> pin_model_;
154 template <
typename _Scalar>
155 struct ResidualDataFrameVelocityTpl :
public ResidualDataAbstractTpl<_Scalar> {
156 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
158 typedef _Scalar Scalar;
159 typedef MathBaseTpl<Scalar> MathBase;
160 typedef ResidualDataAbstractTpl<Scalar> Base;
161 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
162 typedef typename MathBase::Matrix6xs Matrix6xs;
164 template <
template <
typename Scalar>
class Model>
165 ResidualDataFrameVelocityTpl(Model<Scalar>*
const model, DataCollectorAbstract*
const data) : Base(model, data) {
167 DataCollectorMultibodyTpl<Scalar>* d =
dynamic_cast<DataCollectorMultibodyTpl<Scalar>*
>(
shared);
169 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorMultibody");
188 #include "crocoddyl/multibody/residuals/frame-velocity.hxx"
190 #endif // CROCODDYL_MULTIBODY_RESIDUALS_FRAME_VELOCITY_HPP_