9#ifndef CROCODDYL_MULTIBODY_COSTS_IMPULSE_FRICTION_CONE_HPP_
10#define CROCODDYL_MULTIBODY_COSTS_IMPULSE_FRICTION_CONE_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-friction-cone.hpp"
16#include "crocoddyl/core/utils/exception.hpp"
18#include "crocoddyl/multibody/frames-deprecated.hpp"
22#pragma GCC diagnostic push
23#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
47template <
typename _Scalar>
50 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
52 typedef _Scalar Scalar;
58 typedef typename MathBase::VectorXs VectorXs;
68 boost::shared_ptr<ActivationModelAbstract> activation,
106#include "crocoddyl/multibody/costs/impulse-friction-cone.hxx"
108#pragma GCC diagnostic pop
Impulse friction cone cost.
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Modify the impulse friction cone reference.
CostModelImpulseFrictionConeTpl(boost::shared_ptr< StateMultibody > state, const FrameFrictionCone &fref)
Initialize the impulse friction cone cost model.
CostModelImpulseFrictionConeTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameFrictionCone &fref)
Initialize the impulse friction cone cost model.
virtual void get_referenceImpl(const std::type_info &ti, void *pv)
Return the impulse friction cone reference.
boost::shared_ptr< ActivationModelAbstract > activation_
Activation model.
boost::shared_ptr< StateAbstract > state_
State description.
boost::shared_ptr< ResidualModelAbstract > residual_
Residual model.
State multibody representation.