crocoddyl 1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
 
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control-gravity-contact.hpp
1
2// BSD 3-Clause License
3//
4// Copyright (C) 2020-2021, LAAS-CNRS, University of Edinburgh, INRIA
5// Copyright note valid unless otherwise stated in individual files.
6// All rights reserved.
8
9#ifndef CROCODDYL_CORE_COSTS_CONTROL_GRAVITY_CONTACT_HPP_
10#define CROCODDYL_CORE_COSTS_CONTROL_GRAVITY_CONTACT_HPP_
11
12#include "crocoddyl/core/costs/residual.hpp"
13#include "crocoddyl/multibody/states/multibody.hpp"
14#include "crocoddyl/multibody/residuals/contact-control-gravity.hpp"
15#include "crocoddyl/core/utils/exception.hpp"
16
17namespace crocoddyl {
18
37template <typename _Scalar>
39 public:
40 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
41
42 typedef _Scalar Scalar;
49 typedef typename MathBase::VectorXs VectorXs;
50 typedef typename MathBase::MatrixXs MatrixXs;
51
59 CostModelControlGravContactTpl(boost::shared_ptr<StateMultibody> state,
60 boost::shared_ptr<ActivationModelAbstract> activation, const std::size_t nu);
61
70 CostModelControlGravContactTpl(boost::shared_ptr<StateMultibody> state,
71 boost::shared_ptr<ActivationModelAbstract> activation);
72
82 CostModelControlGravContactTpl(boost::shared_ptr<StateMultibody> state, const std::size_t nu);
83
93 explicit CostModelControlGravContactTpl(boost::shared_ptr<StateMultibody> state);
95
96 protected:
98 using Base::nu_;
99 using Base::residual_;
100 using Base::state_;
101 using Base::unone_;
102};
103
104} // namespace crocoddyl
105
106/* --- Details -------------------------------------------------------------- */
107/* --- Details -------------------------------------------------------------- */
108/* --- Details -------------------------------------------------------------- */
109#include "crocoddyl/multibody/costs/control-gravity-contact.hxx"
110
111#endif // CROCODDYL_MULTIBODY_COSTS_CONTROL_GRAVITY_CONTACT_HPP_
Abstract class for the actuation-mapping model.
CostModelControlGravContactTpl(boost::shared_ptr< StateMultibody > state, const std::size_t nu)
Initialize the control gravity contact cost model.
CostModelControlGravContactTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const std::size_t nu)
Initialize the control gravity contact cost model.
CostModelControlGravContactTpl(boost::shared_ptr< StateMultibody > state)
Initialize the control gravity contact cost model.
CostModelControlGravContactTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation)
Initialize the control gravity contact 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
Control gravity residual under contact.
State multibody representation.
Definition: multibody.hpp:31