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9 #ifndef SOBEC_CONTACT_FORCE_HPP_
10 #define SOBEC_CONTACT_FORCE_HPP_
12 #include "crocoddyl/core/residual-base.hpp"
13 #include "crocoddyl/core/utils/exception.hpp"
14 #include "crocoddyl/multibody/contact-base.hpp"
15 #include "crocoddyl/multibody/contacts/contact-6d.hpp"
16 #include "crocoddyl/multibody/data/contacts.hpp"
17 #include "crocoddyl/multibody/fwd.hpp"
18 #include "crocoddyl/multibody/residuals/contact-force.hpp"
19 #include "crocoddyl/multibody/states/multibody.hpp"
25 namespace newcontacts {
52 template <
typename _Scalar>
54 :
public crocoddyl::ResidualModelContactForceTpl<_Scalar> {
56 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
59 typedef crocoddyl::MathBaseTpl<Scalar>
MathBase;
60 typedef crocoddyl::ResidualModelContactForceTpl<Scalar>
Base;
61 typedef crocoddyl::ResidualDataContactForceTpl<Scalar>
Data;
64 typedef pinocchio::ForceTpl<Scalar>
Force;
79 const pinocchio::FrameIndex
id,
80 const Force& fref,
const std::size_t nc,
81 const std::size_t nu);
96 const pinocchio::FrameIndex
id,
97 const Force& fref,
const std::size_t nc);
112 virtual void calc(
const boost::shared_ptr<ResidualDataAbstract>& data,
113 const Eigen::Ref<const VectorXs>&
x,
114 const Eigen::Ref<const VectorXs>& u);
128 virtual void calcDiff(
const boost::shared_ptr<ResidualDataAbstract>& data,
129 const Eigen::Ref<const VectorXs>&
x,
130 const Eigen::Ref<const VectorXs>& u);
141 #endif // SOBEC_CONTACT_FORCE_HPP_
Definition: activation-quad-ref.hpp:19