9#ifndef CROCODDYL_MULTIBODY_COSTS_CONTACT_COP_POSITION_HPP_
10#define CROCODDYL_MULTIBODY_COSTS_CONTACT_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"
16#include "crocoddyl/core/activations/quadratic-barrier.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"
56template <
typename _Scalar>
59 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
61 typedef _Scalar Scalar;
71 typedef typename MathBase::Matrix3s Matrix3s;
72 typedef typename MathBase::VectorXs VectorXs;
83 boost::shared_ptr<ActivationModelAbstract> activation,
96 boost::shared_ptr<ActivationModelAbstract> activation,
110 const std::size_t nu);
151#include "crocoddyl/multibody/costs/contact-cop-position.hxx"
153#pragma GCC diagnostic pop
This class encapsulates a center of pressure support of a 6d contact.
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.