9 #ifndef CROCODDYL_CORE_COSTS_CONTROL_HPP_ 10 #define CROCODDYL_CORE_COSTS_CONTROL_HPP_ 12 #include "crocoddyl/core/fwd.hpp" 13 #include "crocoddyl/core/cost-base.hpp" 14 #include "crocoddyl/core/utils/deprecate.hpp" 34 template <
typename _Scalar>
37 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
39 typedef _Scalar Scalar;
44 typedef typename MathBase::VectorXs VectorXs;
56 boost::shared_ptr<ActivationModelAbstract> activation,
const VectorXs& uref);
67 boost::shared_ptr<ActivationModelAbstract> activation);
79 boost::shared_ptr<ActivationModelAbstract> activation,
const std::size_t& nu);
90 CostModelControlTpl(boost::shared_ptr<typename Base::StateAbstract> state,
const VectorXs& uref);
113 CostModelControlTpl(boost::shared_ptr<typename Base::StateAbstract> state,
const std::size_t& nu);
123 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
124 const Eigen::Ref<const VectorXs>& u);
133 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
134 const Eigen::Ref<const VectorXs>& u);
136 DEPRECATED(
"Use set_reference<MathbTpl<Scalare>::VectorXs>()",
void set_uref(
const VectorXs& uref_in));
137 DEPRECATED(
"Use get_reference<MathbTpl<Scalare>::VectorXs>()",
const VectorXs& get_uref()
const);
164 #include "crocoddyl/core/costs/control.hxx" 166 #endif // CROCODDYL_CORE_COSTS_CONTROL_HPP_ Abstract class for cost models.
virtual void get_referenceImpl(const std::type_info &ti, void *pv) const
Return the state control.
virtual void calcDiff(const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the derivatives of the control cost.
virtual void calc(const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the control cost.
boost::shared_ptr< ActivationModelAbstract > activation_
Activation model.
CostModelControlTpl(boost::shared_ptr< typename Base::StateAbstract > state, boost::shared_ptr< ActivationModelAbstract > activation, const VectorXs &uref)
Initialize the control cost model.
VectorXs unone_
No control vector.
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Modify the control reference.
std::size_t nu_
Control dimension.
boost::shared_ptr< StateAbstract > state_
State description.