10#ifndef CROCODDYL_MULTIBODY_RESIDUALS_COM_POSITION_HPP_
11#define CROCODDYL_MULTIBODY_RESIDUALS_COM_POSITION_HPP_
13#include "crocoddyl/core/residual-base.hpp"
14#include "crocoddyl/multibody/data/multibody.hpp"
15#include "crocoddyl/multibody/fwd.hpp"
16#include "crocoddyl/multibody/states/multibody.hpp"
35template <
typename _Scalar>
38 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
41 typedef _Scalar Scalar;
48 typedef typename MathBase::Vector3s Vector3s;
49 typedef typename MathBase::VectorXs VectorXs;
59 const Vector3s& cref,
const std::size_t nu);
70 const Vector3s& cref);
80 virtual void calc(
const std::shared_ptr<ResidualDataAbstract>& data,
81 const Eigen::Ref<const VectorXs>& x,
82 const Eigen::Ref<const VectorXs>& u)
override;
91 virtual void calcDiff(
const std::shared_ptr<ResidualDataAbstract>& data,
92 const Eigen::Ref<const VectorXs>& x,
93 const Eigen::Ref<const VectorXs>& u)
override;
94 virtual std::shared_ptr<ResidualDataAbstract>
createData(
106 template <
typename NewScalar>
124 virtual void print(std::ostream& os)
const override;
136template <
typename _Scalar>
138 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
140 typedef _Scalar Scalar;
144 typedef typename MathBase::Matrix3xs Matrix3xs;
146 template <
template <
typename Scalar>
class Model>
149 :
Base(model, data) {
155 "Invalid argument: the shared data should be derived from "
156 "DataCollectorMultibody");
176#include "crocoddyl/multibody/residuals/com-position.hxx"
Abstract class for residual models.
std::shared_ptr< StateAbstract > state_
State description.
std::size_t nu_
Control dimension.
ResidualModelCoMPositionTpl(std::shared_ptr< StateMultibody > state, const Vector3s &cref, const std::size_t nu)
Initialize the CoM position residual model.
const Vector3s & get_reference() const
Return the CoM position reference.
ResidualModelCoMPositionTpl< NewScalar > cast() const
Cast the com-position residual model to a different scalar type.
virtual void calcDiff(const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) override
Compute the derivatives of the CoM position residual.
virtual std::shared_ptr< ResidualDataAbstract > createData(DataCollectorAbstract *const data) override
Create the residual data.
void set_reference(const Vector3s &cref)
Modify the CoM position reference.
ResidualModelCoMPositionTpl(std::shared_ptr< StateMultibody > state, const Vector3s &cref)
Initialize the CoM position residual model.
virtual void calc(const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) override
Compute the CoM position residual.
virtual void print(std::ostream &os) const override
Print relevant information of the com-position residual.
State multibody representation.
MatrixXs Ru
Jacobian of the residual vector with respect the control.
MatrixXs Rx
Jacobian of the residual vector with respect the state.
DataCollectorAbstract * shared
Shared data allocated by the action model.
VectorXs r
Residual vector.
DataCollectorAbstract * shared
Shared data allocated by the action model.
pinocchio::DataTpl< Scalar > * pinocchio
Pinocchio data.