impulse-cop-position.hpp

// BSD 3-Clause License
//
// Copyright (C) 2020-2021, University of Duisburg-Essen, University of Edinburgh, INRIA
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
 
#ifndef CROCODDYL_MULTIBODY_COSTS_IMPULSE_COP_POSITION_HPP_
#define CROCODDYL_MULTIBODY_COSTS_IMPULSE_COP_POSITION_HPP_
 
#include "crocoddyl/multibody/fwd.hpp"
#include "crocoddyl/core/costs/residual.hpp"
#include "crocoddyl/multibody/states/multibody.hpp"
#include "crocoddyl/multibody/residuals/contact-cop-position.hpp"
 
#include "crocoddyl/multibody/frames-deprecated.hpp"
 
#include "crocoddyl/core/activations/quadratic-barrier.hpp"
#include "crocoddyl/core/utils/exception.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 CostModelImpulseCoPPositionTpl : 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 ActivationModelQuadraticBarrierTpl<Scalar> ActivationModelQuadraticBarrier;
  typedef ActivationBoundsTpl<Scalar> ActivationBounds;
  typedef CoPSupportTpl<Scalar> CoPSupport;
  typedef FrameCoPSupportTpl<Scalar> FrameCoPSupport;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
  typedef typename MathBase::Matrix3s Matrix3s;
 
  CostModelImpulseCoPPositionTpl(boost::shared_ptr<StateMultibody> state,
                                 boost::shared_ptr<ActivationModelAbstract> activation,
                                 const FrameCoPSupport& cop_support);
 
  CostModelImpulseCoPPositionTpl(boost::shared_ptr<StateMultibody> state, const FrameCoPSupport& cop_support);
  virtual ~CostModelImpulseCoPPositionTpl();
 
 protected:
  virtual void set_referenceImpl(const std::type_info& ti, const void* pv);
 
  virtual void get_referenceImpl(const std::type_info& ti, void* pv);
 
  using Base::activation_;
  using Base::nu_;
  using Base::residual_;
  using Base::state_;
 
 private:
  FrameCoPSupport cop_support_;  
};
 
}  // namespace crocoddyl
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/multibody/costs/impulse-cop-position.hxx"
 
#pragma GCC diagnostic pop
 
#endif  // CROCODDYL_MULTIBODY_COSTS_IMPULSE_COP_POSITION_HPP_