9 #ifndef CROCODDYL_MULTIBODY_COSTS_STATE_HPP_ 10 #define CROCODDYL_MULTIBODY_COSTS_STATE_HPP_ 12 #include "crocoddyl/multibody/fwd.hpp" 13 #include "crocoddyl/core/state-base.hpp" 14 #include "crocoddyl/multibody/cost-base.hpp" 15 #include "crocoddyl/core/utils/deprecate.hpp" 19 template <
typename _Scalar>
22 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
24 typedef _Scalar Scalar;
32 typedef typename MathBase::VectorXs VectorXs;
33 typedef typename MathBase::MatrixXs MatrixXs;
35 CostModelStateTpl(boost::shared_ptr<StateMultibody> state, boost::shared_ptr<ActivationModelAbstract> activation,
36 const VectorXs& xref,
const std::size_t& nu);
37 CostModelStateTpl(boost::shared_ptr<StateMultibody> state, boost::shared_ptr<ActivationModelAbstract> activation,
38 const VectorXs& xref);
39 CostModelStateTpl(boost::shared_ptr<StateMultibody> state,
const VectorXs& xref,
const std::size_t& nu);
41 CostModelStateTpl(boost::shared_ptr<StateMultibody> state, boost::shared_ptr<ActivationModelAbstract> activation,
42 const std::size_t& nu);
43 CostModelStateTpl(boost::shared_ptr<StateMultibody> state,
const std::size_t& nu);
44 CostModelStateTpl(boost::shared_ptr<StateMultibody> state, boost::shared_ptr<ActivationModelAbstract> activation);
48 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
49 const Eigen::Ref<const VectorXs>& u);
50 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
51 const Eigen::Ref<const VectorXs>& u);
52 virtual boost::shared_ptr<CostDataAbstract> createData(DataCollectorAbstract*
const data);
54 DEPRECATED(
"Use set_reference<MathBaseTpl<Scalar>::VectorXs>()",
void set_xref(
const VectorXs& xref_in));
55 DEPRECATED(
"Use get_reference<MathBaseTpl<Scalar>::VectorXs>()",
const VectorXs& get_xref()
const);
58 virtual void set_referenceImpl(
const std::type_info& ti,
const void* pv);
59 virtual void get_referenceImpl(
const std::type_info& ti,
void* pv)
const;
61 using Base::activation_;
70 template <
typename _Scalar>
72 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
74 typedef _Scalar Scalar;
78 typedef typename MathBase::VectorXs VectorXs;
79 typedef typename MathBase::MatrixXs MatrixXs;
81 template <
template <
typename Scalar>
class Model>
82 CostDataStateTpl(Model<Scalar>*
const model, DataCollectorAbstract*
const data)
83 : Base(model, data), Arr_Rx(model->get_activation()->get_nr(), model->get_state()->get_ndx()) {
89 using Base::activation;
107 #include "crocoddyl/multibody/costs/state.hxx" 109 #endif // CROCODDYL_MULTIBODY_COSTS_STATE_HPP_