9#ifndef CROCODDYL_MULTIBODY_COSTS_CONTACT_FORCE_HPP_
10#define CROCODDYL_MULTIBODY_COSTS_CONTACT_FORCE_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-force.hpp"
17#include "crocoddyl/multibody/frames-deprecated.hpp"
21#pragma GCC diagnostic push
22#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
42template <
typename _Scalar>
45 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
47 typedef _Scalar Scalar;
54 typedef typename MathBase::VectorXs VectorXs;
55 typedef typename MathBase::MatrixXs MatrixXs;
68 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameForce& fref,
69 const std::size_t nu);
82 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameForce& fref);
96 const std::size_t nu);
149#include "crocoddyl/multibody/costs/contact-force.hxx"
151#pragma GCC diagnostic pop
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.