9 #ifndef CROCODDYL_MULTIBODY_COSTS_CONTROL_HPP_ 10 #define CROCODDYL_MULTIBODY_COSTS_CONTROL_HPP_ 12 #include "crocoddyl/multibody/fwd.hpp" 13 #include "crocoddyl/multibody/cost-base.hpp" 17 template <
typename _Scalar>
20 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
22 typedef _Scalar Scalar;
30 typedef typename MathBase::VectorXs VectorXs;
31 typedef typename MathBase::MatrixXs MatrixXs;
33 CostModelControlTpl(boost::shared_ptr<StateMultibody> state, boost::shared_ptr<ActivationModelAbstract> activation,
34 const VectorXs& uref);
35 CostModelControlTpl(boost::shared_ptr<StateMultibody> state, boost::shared_ptr<ActivationModelAbstract> activation);
36 CostModelControlTpl(boost::shared_ptr<StateMultibody> state, boost::shared_ptr<ActivationModelAbstract> activation,
37 const std::size_t& nu);
43 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
44 const Eigen::Ref<const VectorXs>& u);
45 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
46 const Eigen::Ref<const VectorXs>& u);
48 const VectorXs& get_uref()
const;
49 void set_uref(
const VectorXs& uref_in);
52 virtual void set_referenceImpl(
const std::type_info& ti,
const void* pv);
53 virtual void get_referenceImpl(
const std::type_info& ti,
void* pv);
55 using Base::activation_;
69 #include "crocoddyl/multibody/costs/control.hxx" 71 #endif // CROCODDYL_MULTIBODY_COSTS_CONTROL_HPP_