10#ifndef CROCODDYL_MULTIBODY_COSTS_FRAME_TRANSLATION_HPP_
11#define CROCODDYL_MULTIBODY_COSTS_FRAME_TRANSLATION_HPP_
13#include "crocoddyl/multibody/fwd.hpp"
14#include "crocoddyl/core/costs/residual.hpp"
15#include "crocoddyl/multibody/states/multibody.hpp"
16#include "crocoddyl/multibody/residuals/frame-translation.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"
41template <
typename _Scalar>
44 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
46 typedef _Scalar Scalar;
53 typedef typename MathBase::VectorXs VectorXs;
54 typedef typename MathBase::Matrix3xs Matrix3xs;
65 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameTranslation& xref,
66 const std::size_t nu);
78 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameTranslation& xref);
90 const std::size_t nu);
130#include "crocoddyl/multibody/costs/frame-translation.hxx"
132#pragma GCC diagnostic pop
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Modify the frame translation reference.
CostModelFrameTranslationTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameTranslation &xref, const std::size_t nu)
Initialize the frame translation cost model.
CostModelFrameTranslationTpl(boost::shared_ptr< StateMultibody > state, const FrameTranslation &xref, const std::size_t nu)
Initialize the frame translation cost model.
CostModelFrameTranslationTpl(boost::shared_ptr< StateMultibody > state, const FrameTranslation &xref)
Initialize the frame translation cost model.
CostModelFrameTranslationTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameTranslation &xref)
Initialize the frame translation cost model.
virtual void get_referenceImpl(const std::type_info &ti, void *pv)
Return the frame translation 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.
Frame translation residual.
State multibody representation.