9 #ifndef SOBEC_MULTIPLE_CONTACTS_HPP_ 10 #define SOBEC_MULTIPLE_CONTACTS_HPP_ 12 #include <crocoddyl/core/utils/exception.hpp> 13 #include <crocoddyl/multibody/contact-base.hpp> 14 #include <crocoddyl/multibody/contacts/multiple-contacts.hpp> 15 #include <crocoddyl/multibody/fwd.hpp> 26 namespace newcontacts {
36 template <
typename _Scalar>
38 :
public crocoddyl::ContactModelMultipleTpl<_Scalar> {
40 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
43 typedef crocoddyl::ContactModelMultipleTpl<Scalar>
Base;
44 typedef crocoddyl::MathBaseTpl<Scalar>
MathBase;
58 typedef std::map<std::string, boost::shared_ptr<ContactItem> >
60 typedef std::map<std::string, boost::shared_ptr<ContactDataAbstract> >
62 typedef typename pinocchio::container::aligned_vector<
72 const std::size_t nu);
93 void updateForceDiff(
const boost::shared_ptr<ContactDataMultiple>& data,
94 const boost::shared_ptr<MatrixXs> df_dx,
95 const boost::shared_ptr<MatrixXs> df_du)
const;
107 pinocchio::DataTpl<Scalar>& pinocchio)
const;
120 #endif // SOBEC_MULTIPLE_CONTACTS_HPP_
Definition: activation-quad-ref.hpp:19