9#ifndef CROCODDYL_CORE_COSTS_CONTROL_GRAVITY_CONTACT_HPP_
10#define CROCODDYL_CORE_COSTS_CONTROL_GRAVITY_CONTACT_HPP_
12#include "crocoddyl/core/costs/residual.hpp"
13#include "crocoddyl/multibody/states/multibody.hpp"
14#include "crocoddyl/multibody/residuals/contact-control-gravity.hpp"
15#include "crocoddyl/core/utils/exception.hpp"
37template <
typename _Scalar>
40 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
42 typedef _Scalar Scalar;
49 typedef typename MathBase::VectorXs VectorXs;
50 typedef typename MathBase::MatrixXs MatrixXs;
60 boost::shared_ptr<ActivationModelAbstract> activation,
const std::size_t nu);
71 boost::shared_ptr<ActivationModelAbstract> activation);
109#include "crocoddyl/multibody/costs/control-gravity-contact.hxx"
Abstract class for the actuation-mapping 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.