centroidal-wrench-cone.hpp

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#pragma once
 
#include "aligator/core/function-abstract.hpp"
 
namespace aligator {
 
template <typename Scalar> struct CentroidalWrenchConeDataTpl;
 
template <typename _Scalar>
struct CentroidalWrenchConeResidualTpl : StageFunctionTpl<_Scalar> {
 
public:
  using Scalar = _Scalar;
  ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);
  using Base = StageFunctionTpl<Scalar>;
  using BaseData = typename Base::Data;
  using Data = CentroidalWrenchConeDataTpl<Scalar>;
 
  CentroidalWrenchConeResidualTpl(const int ndx, const int nu, const int k,
                                  const double mu, const double half_length,
                                  const double half_width)
      : Base(ndx, nu, 17), k_(k), mu_(mu), hL_(half_length), hW_(half_width) {}
 
  void evaluate(const ConstVectorRef &, const ConstVectorRef &u,
                BaseData &data) const;
 
  void computeJacobians(const ConstVectorRef &, const ConstVectorRef &,
                        BaseData &data) const;
 
  shared_ptr<BaseData> createData() const {
    return std::make_shared<Data>(this);
  }
 
protected:
  int k_;     // Contact index corresponding to the contact frame
  double mu_; // Friction coefficient
  double hL_; // Half-length of the contact frame
  double hW_; // Half-width of the contact frame
};
 
template <typename Scalar>
struct CentroidalWrenchConeDataTpl : StageFunctionDataTpl<Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  using Base = StageFunctionDataTpl<Scalar>;
 
  Eigen::Matrix<Scalar, 17, 6> Jtemp_;
 
  CentroidalWrenchConeDataTpl(
      const CentroidalWrenchConeResidualTpl<Scalar> *model);
};
 
} // namespace aligator
 
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
#include "./centroidal-wrench-cone.txx"
#endif