9#ifndef CROCODDYL_MULTIBODY_COSTS_FRAME_VELOCITY_HPP_
10#define CROCODDYL_MULTIBODY_COSTS_FRAME_VELOCITY_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/frame-velocity.hpp"
16#include "crocoddyl/multibody/data/multibody.hpp"
17#include "crocoddyl/core/utils/exception.hpp"
19#include "crocoddyl/multibody/frames-deprecated.hpp"
23#pragma GCC diagnostic push
24#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
42template <
typename _Scalar>
45 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
47 typedef _Scalar Scalar;
55 typedef typename MathBase::VectorXs VectorXs;
66 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameMotion& Fref,
67 const std::size_t nu);
79 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameMotion& Fref);
130#include "crocoddyl/multibody/costs/frame-velocity.hxx"
132#pragma GCC diagnostic pop
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Modify the frame velocity reference.
CostModelFrameVelocityTpl(boost::shared_ptr< StateMultibody > state, const FrameMotion &Fref, const std::size_t nu)
Initialize the frame velocity cost model.
CostModelFrameVelocityTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameMotion &Fref)
Initialize the frame velocity cost model.
CostModelFrameVelocityTpl(boost::shared_ptr< StateMultibody > state, const FrameMotion &Fref)
Initialize the frame velocity cost model.
CostModelFrameVelocityTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameMotion &Fref, const std::size_t nu)
Initialize the frame velocity cost model.
virtual void get_referenceImpl(const std::type_info &ti, void *pv)
Return the frame velocity reference.
boost::shared_ptr< ActivationModelAbstract > activation_
Activation model.
boost::shared_ptr< StateAbstract > state_
State description.
std::size_t nu_
Control dimension.
VectorXs unone_
No control vector.
boost::shared_ptr< ResidualModelAbstract > residual_
Residual model.
State multibody representation.