contact-force.hpp

// BSD 3-Clause License
//
// Copyright (C) 2019-2021, LAAS-CNRS, University of Edinburgh, INRIA
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
 
#ifndef CROCODDYL_MULTIBODY_COSTS_CONTACT_FORCE_HPP_
#define CROCODDYL_MULTIBODY_COSTS_CONTACT_FORCE_HPP_
 
#include "crocoddyl/multibody/fwd.hpp"
#include "crocoddyl/core/costs/residual.hpp"
#include "crocoddyl/multibody/states/multibody.hpp"
#include "crocoddyl/multibody/residuals/contact-force.hpp"
 
#include "crocoddyl/multibody/frames-deprecated.hpp"
 
namespace crocoddyl {
 
#pragma GCC diagnostic push  // TODO: Remove once the deprecated FrameXX has been removed in a future release
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
 
template <typename _Scalar>
class CostModelContactForceTpl : public CostModelResidualTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef CostModelResidualTpl<Scalar> Base;
  typedef StateMultibodyTpl<Scalar> StateMultibody;
  typedef ActivationModelAbstractTpl<Scalar> ActivationModelAbstract;
  typedef ResidualModelContactForceTpl<Scalar> ResidualModelContactForce;
  typedef FrameForceTpl<Scalar> FrameForce;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  CostModelContactForceTpl(boost::shared_ptr<StateMultibody> state,
                           boost::shared_ptr<ActivationModelAbstract> activation, const FrameForce& fref,
                           const std::size_t nu);
 
  CostModelContactForceTpl(boost::shared_ptr<StateMultibody> state,
                           boost::shared_ptr<ActivationModelAbstract> activation, const FrameForce& fref);
 
  CostModelContactForceTpl(boost::shared_ptr<StateMultibody> state, const FrameForce& fref, const std::size_t nr,
                           const std::size_t nu);
 
  CostModelContactForceTpl(boost::shared_ptr<StateMultibody> state, const FrameForce& fref, const std::size_t nr);
 
  CostModelContactForceTpl(boost::shared_ptr<StateMultibody> state, const FrameForce& fref);
  virtual ~CostModelContactForceTpl();
 
 protected:
  virtual void get_referenceImpl(const std::type_info& ti, void* pv);
 
  virtual void set_referenceImpl(const std::type_info& ti, const void* pv);
 
  using Base::activation_;
  using Base::nu_;
  using Base::residual_;
  using Base::state_;
  using Base::unone_;
 
 protected:
  FrameForce fref_;  
};
 
}  // namespace crocoddyl
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/multibody/costs/contact-force.hxx"
 
#pragma GCC diagnostic pop
 
#endif  // CROCODDYL_MULTIBODY_COSTS_CONTACT_FORCE_HPP_