crocoddyl  1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
contact-force.hpp
1 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2021, LAAS-CNRS, University of Edinburgh, INRIA
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
8 
9 #ifndef CROCODDYL_MULTIBODY_COSTS_CONTACT_FORCE_HPP_
10 #define CROCODDYL_MULTIBODY_COSTS_CONTACT_FORCE_HPP_
11 
12 #include "crocoddyl/multibody/fwd.hpp"
13 #include "crocoddyl/core/costs/residual.hpp"
14 #include "crocoddyl/multibody/states/multibody.hpp"
15 #include "crocoddyl/multibody/residuals/contact-force.hpp"
16 
17 #include "crocoddyl/multibody/frames-deprecated.hpp"
18 
19 namespace crocoddyl {
20 
21 #pragma GCC diagnostic push // TODO: Remove once the deprecated FrameXX has been removed in a future release
22 #pragma GCC diagnostic ignored "-Wdeprecated-declarations"
23 
42 template <typename _Scalar>
44  public:
45  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
46 
47  typedef _Scalar Scalar;
54  typedef typename MathBase::VectorXs VectorXs;
55  typedef typename MathBase::MatrixXs MatrixXs;
56 
67  CostModelContactForceTpl(boost::shared_ptr<StateMultibody> state,
68  boost::shared_ptr<ActivationModelAbstract> activation, const FrameForce& fref,
69  const std::size_t nu);
70 
81  CostModelContactForceTpl(boost::shared_ptr<StateMultibody> state,
82  boost::shared_ptr<ActivationModelAbstract> activation, const FrameForce& fref);
83 
95  CostModelContactForceTpl(boost::shared_ptr<StateMultibody> state, const FrameForce& fref, const std::size_t nr,
96  const std::size_t nu);
97 
109  CostModelContactForceTpl(boost::shared_ptr<StateMultibody> state, const FrameForce& fref, const std::size_t nr);
110 
120  CostModelContactForceTpl(boost::shared_ptr<StateMultibody> state, const FrameForce& fref);
121  virtual ~CostModelContactForceTpl();
122 
123  protected:
127  virtual void get_referenceImpl(const std::type_info& ti, void* pv);
128 
132  virtual void set_referenceImpl(const std::type_info& ti, const void* pv);
133 
134  using Base::activation_;
135  using Base::nu_;
136  using Base::residual_;
137  using Base::state_;
138  using Base::unone_;
139 
140  protected:
142 };
143 
144 } // namespace crocoddyl
145 
146 /* --- Details -------------------------------------------------------------- */
147 /* --- Details -------------------------------------------------------------- */
148 /* --- Details -------------------------------------------------------------- */
149 #include "crocoddyl/multibody/costs/contact-force.hxx"
150 
151 #pragma GCC diagnostic pop
152 
153 #endif // CROCODDYL_MULTIBODY_COSTS_CONTACT_FORCE_HPP_
Abstract class for cost models.
Definition: cost-base.hpp:49
Define a contact force cost function.
CostModelContactForceTpl(boost::shared_ptr< StateMultibody > state, const FrameForce &fref, const std::size_t nr)
Initialize the contact force cost model.
CostModelContactForceTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameForce &fref, const std::size_t nu)
Initialize the contact force cost model.
CostModelContactForceTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameForce &fref)
Initialize the contact force cost model.
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Return the reference spatial contact force .
CostModelContactForceTpl(boost::shared_ptr< StateMultibody > state, const FrameForce &fref)
Initialize the contact force cost model.
FrameForce fref_
Reference spatial contact force .
CostModelContactForceTpl(boost::shared_ptr< StateMultibody > state, const FrameForce &fref, const std::size_t nr, const std::size_t nu)
Initialize the contact force cost model.
virtual void get_referenceImpl(const std::type_info &ti, void *pv)
Modify the reference spatial contact force .
Residual-based cost.
Definition: residual.hpp:36
boost::shared_ptr< ActivationModelAbstract > activation_
Activation model.
Definition: cost-base.hpp:241
boost::shared_ptr< StateAbstract > state_
State description.
Definition: cost-base.hpp:240
std::size_t nu_
Control dimension.
Definition: cost-base.hpp:243
VectorXs unone_
No control vector.
Definition: cost-base.hpp:244
boost::shared_ptr< ResidualModelAbstract > residual_
Residual model.
Definition: cost-base.hpp:242
Define a contact force residual function.
State multibody representation.
Definition: multibody.hpp:31