centroidal-friction-cone.hpp

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#pragma once
 
#include "aligator/core/function-abstract.hpp"
 
namespace aligator {
 
template <typename Scalar> struct CentroidalFrictionConeDataTpl;
 
template <typename _Scalar>
struct CentroidalFrictionConeResidualTpl : StageFunctionTpl<_Scalar> {
 
public:
  using Scalar = _Scalar;
  ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);
  using Base = StageFunctionTpl<Scalar>;
  using BaseData = typename Base::Data;
  using Data = CentroidalFrictionConeDataTpl<Scalar>;
 
  CentroidalFrictionConeResidualTpl(const int ndx, const int nu, const int k,
                                    const double mu, const double epsilon)
      : Base(ndx, nu, 2), k_(k), mu2_(mu * mu), epsilon_(epsilon) {}
 
  void evaluate(const ConstVectorRef &, const ConstVectorRef &u,
                BaseData &data) const;
 
  void computeJacobians(const ConstVectorRef &, const ConstVectorRef &u,
                        BaseData &data) const;
 
  shared_ptr<BaseData> createData() const {
    return std::make_shared<Data>(this);
  }
 
protected:
  int k_;
  double mu2_;
  double epsilon_;
};
 
template <typename Scalar>
struct CentroidalFrictionConeDataTpl : StageFunctionDataTpl<Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  using Base = StageFunctionDataTpl<Scalar>;
  using Matrix23s = Eigen::Matrix<Scalar, 2, 3>;
 
  Matrix23s Jtemp_;
 
  CentroidalFrictionConeDataTpl(
      const CentroidalFrictionConeResidualTpl<Scalar> *model);
};
 
} // namespace aligator
 
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
#include "aligator/modelling/centroidal/centroidal-friction-cone.txx"
#endif