frame-velocity.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_FRAME_VELOCITY_HPP_
#define CROCODDYL_MULTIBODY_COSTS_FRAME_VELOCITY_HPP_
 
#include "crocoddyl/multibody/fwd.hpp"
#include "crocoddyl/core/costs/residual.hpp"
#include "crocoddyl/multibody/states/multibody.hpp"
#include "crocoddyl/multibody/residuals/frame-velocity.hpp"
#include "crocoddyl/multibody/data/multibody.hpp"
#include "crocoddyl/core/utils/exception.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 CostModelFrameVelocityTpl : public CostModelResidualTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef CostModelResidualTpl<Scalar> Base;
  typedef CostDataFrameVelocityTpl<Scalar> Data;
  typedef StateMultibodyTpl<Scalar> StateMultibody;
  typedef ActivationModelAbstractTpl<Scalar> ActivationModelAbstract;
  typedef ResidualModelFrameVelocityTpl<Scalar> ResidualModelFrameVelocity;
  typedef FrameMotionTpl<Scalar> FrameMotion;
  typedef typename MathBase::VectorXs VectorXs;
 
  CostModelFrameVelocityTpl(boost::shared_ptr<StateMultibody> state,
                            boost::shared_ptr<ActivationModelAbstract> activation, const FrameMotion& Fref,
                            const std::size_t nu);
 
  CostModelFrameVelocityTpl(boost::shared_ptr<StateMultibody> state,
                            boost::shared_ptr<ActivationModelAbstract> activation, const FrameMotion& Fref);
 
  CostModelFrameVelocityTpl(boost::shared_ptr<StateMultibody> state, const FrameMotion& Fref, const std::size_t nu);
 
  CostModelFrameVelocityTpl(boost::shared_ptr<StateMultibody> state, const FrameMotion& Fref);
  virtual ~CostModelFrameVelocityTpl();
 
 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_;
 
 private:
  FrameMotion vref_;  
};
 
}  // namespace crocoddyl
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/multibody/costs/frame-velocity.hxx"
 
#pragma GCC diagnostic pop
 
#endif  // CROCODDYL_MULTIBODY_COSTS_FRAME_VELOCITY_HPP_