10 #ifndef CROCODDYL_MULTIBODY_COSTS_FRAME_TRANSLATION_HPP_ 11 #define CROCODDYL_MULTIBODY_COSTS_FRAME_TRANSLATION_HPP_ 13 #include "crocoddyl/multibody/fwd.hpp" 14 #include "crocoddyl/core/costs/residual.hpp" 15 #include "crocoddyl/multibody/states/multibody.hpp" 16 #include "crocoddyl/multibody/residuals/frame-translation.hpp" 17 #include "crocoddyl/core/utils/exception.hpp" 19 #include "crocoddyl/multibody/frames-deprecated.hpp" 23 #pragma GCC diagnostic push // TODO: Remove once the deprecated FrameXX has been removed in a future release 24 #pragma GCC diagnostic ignored "-Wdeprecated-declarations" 41 template <
typename _Scalar>
44 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
46 typedef _Scalar Scalar;
53 typedef typename MathBase::VectorXs VectorXs;
54 typedef typename MathBase::Matrix3xs Matrix3xs;
65 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameTranslation& xref,
66 const std::size_t nu);
78 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameTranslation& xref);
90 const std::size_t nu);
122 FrameTranslation xref_;
130 #include "crocoddyl/multibody/costs/frame-translation.hxx" 132 #pragma GCC diagnostic pop 134 #endif // CROCODDYL_MULTIBODY_COSTS_FRAME_TRANSLATION_HPP_
boost::shared_ptr< ResidualModelAbstract > residual_
Residual model.
Abstract class for cost models.
boost::shared_ptr< ActivationModelAbstract > activation_
Activation model.
State multibody representation.
CostModelFrameTranslationTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameTranslation &xref, const std::size_t nu)
Initialize the frame translation cost model.
virtual void get_referenceImpl(const std::type_info &ti, void *pv)
Return the frame translation reference.
Frame translation residual.
VectorXs unone_
No control vector.
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Modify the frame translation reference.
std::size_t nu_
Control dimension.
boost::shared_ptr< StateAbstract > state_
State description.