10 #ifndef CROCODDYL_MULTIBODY_RESIDUALS_FRAME_TRANSLATION_HPP_
11 #define CROCODDYL_MULTIBODY_RESIDUALS_FRAME_TRANSLATION_HPP_
13 #include <pinocchio/multibody/fwd.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"
36 template <
typename _Scalar>
37 class ResidualModelFrameTranslationTpl :
public ResidualModelAbstractTpl<_Scalar> {
39 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
41 typedef _Scalar Scalar;
42 typedef MathBaseTpl<Scalar> MathBase;
43 typedef ResidualModelAbstractTpl<Scalar> Base;
44 typedef ResidualDataFrameTranslationTpl<Scalar> Data;
45 typedef StateMultibodyTpl<Scalar> StateMultibody;
46 typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
47 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
48 typedef typename MathBase::VectorXs VectorXs;
49 typedef typename MathBase::Vector3s Vector3s;
60 const Vector3s& xref,
const std::size_t nu);
72 const Vector3s& xref);
82 virtual void calc(
const boost::shared_ptr<ResidualDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
83 const Eigen::Ref<const VectorXs>& u);
92 virtual void calcDiff(
const boost::shared_ptr<ResidualDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
93 const Eigen::Ref<const VectorXs>& u);
98 virtual boost::shared_ptr<ResidualDataAbstract>
createData(DataCollectorAbstract*
const data);
103 pinocchio::FrameIndex
get_id()
const;
113 void set_id(
const pinocchio::FrameIndex
id);
125 virtual void print(std::ostream& os)
const;
135 pinocchio::FrameIndex id_;
137 boost::shared_ptr<typename StateMultibody::PinocchioModel> pin_model_;
140 template <
typename _Scalar>
141 struct ResidualDataFrameTranslationTpl :
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::Matrix6xs Matrix6xs;
150 template <
template <
typename Scalar>
class Model>
151 ResidualDataFrameTranslationTpl(Model<Scalar>*
const model, DataCollectorAbstract*
const data)
152 : Base(model, data),
fJf(6, model->get_state()->get_nv()) {
155 DataCollectorMultibodyTpl<Scalar>* d =
dynamic_cast<DataCollectorMultibodyTpl<Scalar>*
>(
shared);
157 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorMultibody");
178 #include "crocoddyl/multibody/residuals/frame-translation.hxx"
180 #endif // CROCODDYL_MULTIBODY_RESIDUALS_FRAME_TRANSLATION_HPP_