9#ifndef CROCODDYL_CORE_COSTS_CONTROL_HPP_
10#define CROCODDYL_CORE_COSTS_CONTROL_HPP_
12#include "crocoddyl/core/fwd.hpp"
13#include "crocoddyl/core/costs/residual.hpp"
14#include "crocoddyl/core/residuals/control.hpp"
34template <
typename _Scalar>
37 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
39 typedef _Scalar Scalar;
44 typedef typename MathBase::VectorXs VectorXs;
56 boost::shared_ptr<ActivationModelAbstract> activation,
const VectorXs& uref);
67 boost::shared_ptr<ActivationModelAbstract> activation);
79 boost::shared_ptr<ActivationModelAbstract> activation,
const std::size_t nu);
123 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
124 const Eigen::Ref<const VectorXs>& u);
152#include "crocoddyl/core/costs/control.hxx"
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Modify the control reference.
CostModelControlTpl(boost::shared_ptr< typename Base::StateAbstract > state, const std::size_t nu)
Initialize the control cost model.
CostModelControlTpl(boost::shared_ptr< typename Base::StateAbstract > state, boost::shared_ptr< ActivationModelAbstract > activation, const std::size_t nu)
Initialize the control cost model.
CostModelControlTpl(boost::shared_ptr< typename Base::StateAbstract > state)
Initialize the control cost model.
virtual void calcDiff(const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the derivatives of the control cost.
CostModelControlTpl(boost::shared_ptr< typename Base::StateAbstract > state, const VectorXs &uref)
Initialize the control cost model.
virtual void get_referenceImpl(const std::type_info &ti, void *pv)
Return the state control.
CostModelControlTpl(boost::shared_ptr< typename Base::StateAbstract > state, boost::shared_ptr< ActivationModelAbstract > activation, const VectorXs &uref)
Initialize the control cost model.
CostModelControlTpl(boost::shared_ptr< typename Base::StateAbstract > state, boost::shared_ptr< ActivationModelAbstract > activation)
Initialize the control cost model.
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.
Define a control residual.