9#ifndef CROCODDYL_CORE_COSTS_CONTROL_GRAVITY_HPP_
10#define CROCODDYL_CORE_COSTS_CONTROL_GRAVITY_HPP_
12#include "crocoddyl/core/costs/residual.hpp"
13#include "crocoddyl/multibody/states/multibody.hpp"
14#include "crocoddyl/multibody/residuals/control-gravity.hpp"
15#include "crocoddyl/core/utils/exception.hpp"
35template <
typename _Scalar>
38 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
40 typedef _Scalar Scalar;
46 typedef typename MathBase::VectorXs VectorXs;
47 typedef typename MathBase::MatrixXs MatrixXs;
57 boost::shared_ptr<ActivationModelAbstract> activation,
const std::size_t nu);
68 boost::shared_ptr<ActivationModelAbstract> activation);
107#include "crocoddyl/multibody/costs/control-gravity.hxx"
CostModelControlGravTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const std::size_t nu)
Initialize the control gravity cost model.
CostModelControlGravTpl(boost::shared_ptr< StateMultibody > state, const std::size_t nu)
Initialize the control gravity cost model.
CostModelControlGravTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation)
Initialize the control gravity cost model.
CostModelControlGravTpl(boost::shared_ptr< StateMultibody > state)
Initialize the control gravity 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.
Control gravity residual.
State multibody representation.