9 #ifndef CROCODDYL_MULTIBODY_FORCE_BASE_HPP_
10 #define CROCODDYL_MULTIBODY_FORCE_BASE_HPP_
12 #include <pinocchio/multibody/data.hpp>
13 #include <pinocchio/spatial/force.hpp>
15 #include "crocoddyl/multibody/fwd.hpp"
16 #include "crocoddyl/core/mathbase.hpp"
20 template <
typename _Scalar>
22 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
24 typedef _Scalar Scalar;
26 typedef typename MathBase::VectorXs VectorXs;
27 typedef typename MathBase::MatrixXs MatrixXs;
29 template <
template <
typename Scalar>
class Model>
33 jMf(pinocchio::SE3Tpl<Scalar>::Identity()),
34 Jc(model->get_nc(), model->get_state()->get_nv()),
35 f(pinocchio::ForceTpl<Scalar>::Zero()),
36 df_dx(model->get_nc(), model->get_state()->get_ndx()),
37 df_du(model->get_nc(), model->get_nu()) {
46 typename pinocchio::SE3Tpl<Scalar>
jMf;
48 pinocchio::ForceTpl<Scalar>
f;
56 #endif // CROCODDYL_MULTIBODY_FORCE_BASE_HPP_