contact-force.hpp

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// BSD 3-Clause License
//
// Copyright (C) 2019-2021, LAAS-CNRS, University of Edinburgh
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
 
#ifndef SOBEC_CONTACT_FORCE_HPP_
#define SOBEC_CONTACT_FORCE_HPP_
 
#include "crocoddyl/core/residual-base.hpp"
#include "crocoddyl/core/utils/exception.hpp"
#include "crocoddyl/multibody/contact-base.hpp"
#include "crocoddyl/multibody/contacts/contact-6d.hpp"
#include "crocoddyl/multibody/data/contacts.hpp"
#include "crocoddyl/multibody/fwd.hpp"
#include "crocoddyl/multibody/residuals/contact-force.hpp"
#include "crocoddyl/multibody/states/multibody.hpp"
#include "sobec/crocomplements/contact/contact1d.hpp"
#include "sobec/crocomplements/contact/contact3d.hpp"
#include "sobec/crocomplements/contact/contact6d.hpp"
#include "sobec/fwd.hpp"
 
namespace sobec {
namespace newcontacts {
 
template <typename _Scalar>
class ResidualModelContactForceTpl
    : public crocoddyl::ResidualModelContactForceTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef crocoddyl::MathBaseTpl<Scalar> MathBase;
  typedef crocoddyl::ResidualModelContactForceTpl<Scalar> Base;
  typedef crocoddyl::ResidualDataContactForceTpl<Scalar> Data;
  typedef crocoddyl::StateMultibodyTpl<Scalar> StateMultibody;
  typedef crocoddyl::ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
  typedef pinocchio::ForceTpl<Scalar> Force;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  ResidualModelContactForceTpl(boost::shared_ptr<StateMultibody> state,
                               const pinocchio::FrameIndex id,
                               const Force& fref, const std::size_t nc,
                               const std::size_t nu);
  //    const std::size_t type = 2);
 
  ResidualModelContactForceTpl(boost::shared_ptr<StateMultibody> state,
                               const pinocchio::FrameIndex id,
                               const Force& fref, const std::size_t nc);
  virtual ~ResidualModelContactForceTpl();
 
  virtual void calc(const boost::shared_ptr<ResidualDataAbstract>& data,
                    const Eigen::Ref<const VectorXs>& x,
                    const Eigen::Ref<const VectorXs>& u);
 
  virtual void calcDiff(const boost::shared_ptr<ResidualDataAbstract>& data,
                        const Eigen::Ref<const VectorXs>& x,
                        const Eigen::Ref<const VectorXs>& u);
};
 
}  // namespace newcontacts
}  // namespace sobec
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "sobec/crocomplements/contact/contact-force.hxx"
 
#endif  // SOBEC_CONTACT_FORCE_HPP_