9#ifndef CROCODDYL_MULTIBODY_COSTS_COM_POSITION_HPP_
10#define CROCODDYL_MULTIBODY_COSTS_COM_POSITION_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/com-position.hpp"
16#include "crocoddyl/multibody/data/multibody.hpp"
17#include "crocoddyl/core/utils/exception.hpp"
36template <
typename _Scalar>
39 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
41 typedef _Scalar Scalar;
47 typedef typename MathBase::Vector3s Vector3s;
48 typedef typename MathBase::VectorXs VectorXs;
49 typedef typename MathBase::MatrixXs MatrixXs;
50 typedef typename MathBase::Matrix3xs Matrix3xs;
61 boost::shared_ptr<ActivationModelAbstract> activation,
const Vector3s& cref,
62 const std::size_t nu);
74 boost::shared_ptr<ActivationModelAbstract> activation,
const Vector3s& cref);
125#include "crocoddyl/multibody/costs/com-position.hxx"
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Modify the CoM position reference.
CostModelCoMPositionTpl(boost::shared_ptr< StateMultibody > state, const Vector3s &cref, const std::size_t nu)
Initialize the CoM position cost model.
CostModelCoMPositionTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const Vector3s &cref)
Initialize the CoM position cost model.
CostModelCoMPositionTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const Vector3s &cref, const std::size_t nu)
Initialize the CoM position cost model.
virtual void get_referenceImpl(const std::type_info &ti, void *pv)
Return the CoM position reference.
CostModelCoMPositionTpl(boost::shared_ptr< StateMultibody > state, const Vector3s &cref)
Initialize the CoM position 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.
State multibody representation.