9 #ifndef CROCODDYL_MULTIBODY_ACTUATIONS_FLOATING_BASE_HPP_
10 #define CROCODDYL_MULTIBODY_ACTUATIONS_FLOATING_BASE_HPP_
12 #include "crocoddyl/multibody/fwd.hpp"
13 #include "crocoddyl/core/utils/exception.hpp"
14 #include "crocoddyl/core/actuation-base.hpp"
15 #include "crocoddyl/multibody/states/multibody.hpp"
31 template <
typename _Scalar>
34 typedef _Scalar Scalar;
39 typedef typename MathBase::VectorXs VectorXs;
40 typedef typename MathBase::MatrixXs MatrixXs;
49 :
Base(state, state->get_nv() - state->get_pinocchio()->joints[1].nv()){};
59 virtual void calc(
const boost::shared_ptr<Data>& data,
const Eigen::Ref<const VectorXs>& ,
60 const Eigen::Ref<const VectorXs>& u) {
61 if (
static_cast<std::size_t
>(u.size()) !=
nu_) {
62 throw_pretty(
"Invalid argument: "
63 <<
"u has wrong dimension (it should be " + std::to_string(
nu_) +
")");
65 data->tau.tail(
nu_) = u;
76 virtual void calcDiff(
const boost::shared_ptr<Data>& data,
const Eigen::Ref<const VectorXs>& ,
77 const Eigen::Ref<const VectorXs>& ) {
79 virtual void calcDiff(
const boost::shared_ptr<Data>&,
const Eigen::Ref<const VectorXs>& ,
80 const Eigen::Ref<const VectorXs>& ) {
83 assert_pretty(data->dtau_dx.isZero(),
"dtau_dx has wrong value");
84 assert_pretty(MatrixXs(data->dtau_du).isApprox(dtau_du_),
"dtau_du has wrong value");
94 boost::shared_ptr<StateMultibody> state = boost::static_pointer_cast<StateMultibody>(
state_);
95 boost::shared_ptr<Data> data = boost::allocate_shared<Data>(Eigen::aligned_allocator<Data>(),
this);
96 data->dtau_du.diagonal(-state->get_pinocchio()->joints[1].nv()).setOnes();
98 dtau_du_ = data->dtau_du;
115 #endif // CROCODDYL_MULTIBODY_ACTUATIONS_FLOATING_BASE_HPP_