crocoddyl 1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
 
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impulse-com.hpp
1
2// BSD 3-Clause License
3//
4// Copyright (C) 2019-2021, LAAS-CNRS, University of Edinburgh, INRIA
5// Copyright note valid unless otherwise stated in individual files.
6// All rights reserved.
8
9#ifndef CROCODDYL_MULTIBODY_COSTS_IMPULSE_COM_HPP_
10#define CROCODDYL_MULTIBODY_COSTS_IMPULSE_COM_HPP_
11
12#include "crocoddyl/multibody/fwd.hpp"
13#include "crocoddyl/core/costs/residual.hpp"
14#include "crocoddyl/multibody/states/multibody.hpp"
15#include "crocoddyl/multibody/residuals/impulse-com.hpp"
16#include "crocoddyl/core/utils/exception.hpp"
17
18#include "crocoddyl/multibody/frames-deprecated.hpp"
19
20namespace crocoddyl {
21
38template <typename _Scalar>
40 public:
41 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
42
43 typedef _Scalar Scalar;
49 typedef typename MathBase::VectorXs VectorXs;
50
57 CostModelImpulseCoMTpl(boost::shared_ptr<StateMultibody> state,
58 boost::shared_ptr<ActivationModelAbstract> activation);
59
68 CostModelImpulseCoMTpl(boost::shared_ptr<StateMultibody> state);
70
71 protected:
73 using Base::nu_;
74 using Base::residual_;
75 using Base::state_;
76 using Base::unone_;
77};
78
79} // namespace crocoddyl
80
81/* --- Details -------------------------------------------------------------- */
82/* --- Details -------------------------------------------------------------- */
83/* --- Details -------------------------------------------------------------- */
84#include "crocoddyl/multibody/costs/impulse-com.hxx"
85
86#endif // CROCODDYL_MULTIBODY_COSTS_IMPULSE_COM_HPP_
CostModelImpulseCoMTpl(boost::shared_ptr< StateMultibody > state)
Initialize the impulse CoM cost model.
CostModelImpulseCoMTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation)
Initialize the impulse CoM cost model.
Residual-based cost.
Definition: residual.hpp:36
boost::shared_ptr< ActivationModelAbstract > activation_
Activation model.
Definition: cost-base.hpp:241
boost::shared_ptr< StateAbstract > state_
State description.
Definition: cost-base.hpp:240
std::size_t nu_
Control dimension.
Definition: cost-base.hpp:243
VectorXs unone_
No control vector.
Definition: cost-base.hpp:244
boost::shared_ptr< ResidualModelAbstract > residual_
Residual model.
Definition: cost-base.hpp:242
State multibody representation.
Definition: multibody.hpp:31