9#ifndef CROCODDYL_MULTIBODY_COSTS_IMPULSE_COP_POSITION_HPP_
10#define CROCODDYL_MULTIBODY_COSTS_IMPULSE_COP_POSITION_HPP_
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/contact-cop-position.hpp"
17#include "crocoddyl/multibody/frames-deprecated.hpp"
19#include "crocoddyl/core/activations/quadratic-barrier.hpp"
20#include "crocoddyl/core/utils/exception.hpp"
24#pragma GCC diagnostic push
25#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
58template <
typename _Scalar>
61 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
63 typedef _Scalar Scalar;
72 typedef typename MathBase::VectorXs VectorXs;
73 typedef typename MathBase::MatrixXs MatrixXs;
74 typedef typename MathBase::Matrix3s Matrix3s;
84 boost::shared_ptr<ActivationModelAbstract> activation,
124#include "crocoddyl/multibody/costs/impulse-cop-position.hxx"
126#pragma GCC diagnostic pop
This class encapsulates a center of pressure support of a 6d contact.
Define a center of pressure cost function.
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Return the frame CoP support.
CostModelImpulseCoPPositionTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameCoPSupport &cop_support)
Initialize the impulse CoP cost model.
CostModelImpulseCoPPositionTpl(boost::shared_ptr< StateMultibody > state, const FrameCoPSupport &cop_support)
Initialize the impulse CoP cost model.
virtual void get_referenceImpl(const std::type_info &ti, void *pv)
Modify the frame CoP support.
boost::shared_ptr< ActivationModelAbstract > activation_
Activation model.
boost::shared_ptr< StateAbstract > state_
State description.
std::size_t nu_
Control dimension.
boost::shared_ptr< ResidualModelAbstract > residual_
Residual model.
State multibody representation.