state.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_STATE_HPP_
#define CROCODDYL_MULTIBODY_COSTS_STATE_HPP_
 
#include "crocoddyl/core/fwd.hpp"
#include "crocoddyl/multibody/fwd.hpp"
#include "crocoddyl/core/costs/residual.hpp"
#include "crocoddyl/multibody/residuals/state.hpp"
#include "crocoddyl/multibody/states/multibody.hpp"
 
namespace crocoddyl {
 
template <typename _Scalar>
class CostModelStateTpl : 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 CostDataAbstractTpl<Scalar> CostDataAbstract;
  typedef ActivationModelAbstractTpl<Scalar> ActivationModelAbstract;
  typedef ResidualModelStateTpl<Scalar> ResidualModelState;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  CostModelStateTpl(boost::shared_ptr<typename Base::StateAbstract> state,
                    boost::shared_ptr<ActivationModelAbstract> activation, const VectorXs& xref, const std::size_t nu);
 
  CostModelStateTpl(boost::shared_ptr<typename Base::StateAbstract> state,
                    boost::shared_ptr<ActivationModelAbstract> activation, const VectorXs& xref);
 
  CostModelStateTpl(boost::shared_ptr<typename Base::StateAbstract> state, const VectorXs& xref, const std::size_t nu);
 
  CostModelStateTpl(boost::shared_ptr<typename Base::StateAbstract> state, const VectorXs& xref);
 
  CostModelStateTpl(boost::shared_ptr<typename Base::StateAbstract> state,
                    boost::shared_ptr<ActivationModelAbstract> activation, const std::size_t nu);
 
  CostModelStateTpl(boost::shared_ptr<typename Base::StateAbstract> state, const std::size_t nu);
 
  CostModelStateTpl(boost::shared_ptr<typename Base::StateAbstract> state,
                    boost::shared_ptr<ActivationModelAbstract> activation);
 
  explicit CostModelStateTpl(boost::shared_ptr<typename Base::StateAbstract> state);
  virtual ~CostModelStateTpl();
 
  virtual void calcDiff(const boost::shared_ptr<CostDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
                        const Eigen::Ref<const VectorXs>& u);
 
 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:
  VectorXs xref_;                                                         
  boost::shared_ptr<typename StateMultibody::PinocchioModel> pin_model_;  
};
 
}  // namespace crocoddyl
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/multibody/costs/state.hxx"
 
#endif  // CROCODDYL_MULTIBODY_COSTS_STATE_HPP_