9#ifndef CROCODDYL_MULTIBODY_COSTS_FRAME_PLACEMENT_HPP_
10#define CROCODDYL_MULTIBODY_COSTS_FRAME_PLACEMENT_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/frame-placement.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"
40template <
typename _Scalar>
43 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
45 typedef _Scalar Scalar;
52 typedef typename MathBase::VectorXs VectorXs;
53 typedef typename MathBase::Matrix6xs Matrix6xs;
64 boost::shared_ptr<ActivationModelAbstract> activation,
const FramePlacement& Fref,
65 const std::size_t nu);
77 boost::shared_ptr<ActivationModelAbstract> activation,
const FramePlacement& Fref);
89 const std::size_t nu);
130#include "crocoddyl/multibody/costs/frame-placement.hxx"
132#pragma GCC diagnostic pop
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Modify the frame placement reference.
CostModelFramePlacementTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FramePlacement &Fref, const std::size_t nu)
Initialize the frame placement cost model.
CostModelFramePlacementTpl(boost::shared_ptr< StateMultibody > state, const FramePlacement &Fref, const std::size_t nu)
Initialize the frame placement cost model.
CostModelFramePlacementTpl(boost::shared_ptr< StateMultibody > state, const FramePlacement &Fref)
Initialize the frame placement cost model.
virtual void get_referenceImpl(const std::type_info &ti, void *pv)
Return the frame placement reference.
CostModelFramePlacementTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FramePlacement &Fref)
Initialize the frame placement 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.
Frame placement residual.
State multibody representation.