9 #ifndef CROCODDYL_MULTIBODY_COSTS_FRAME_ROTATION_HPP_ 10 #define CROCODDYL_MULTIBODY_COSTS_FRAME_ROTATION_HPP_ 12 #include "crocoddyl/multibody/fwd.hpp" 13 #include "crocoddyl/core/costs/residual.hpp" 14 #include "crocoddyl/multibody/states/multibody.hpp" 15 #include "crocoddyl/multibody/residuals/frame-rotation.hpp" 16 #include "crocoddyl/multibody/data/multibody.hpp" 17 #include "crocoddyl/multibody/frames.hpp" 18 #include "crocoddyl/core/utils/exception.hpp" 37 template <
typename _Scalar>
40 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
42 typedef _Scalar Scalar;
49 typedef typename MathBase::VectorXs VectorXs;
50 typedef typename MathBase::Matrix3xs Matrix3xs;
61 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameRotation& Fref,
62 const std::size_t nu);
75 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameRotation& Fref);
129 #include "crocoddyl/multibody/costs/frame-rotation.hxx" 131 #endif // CROCODDYL_MULTIBODY_COSTS_FRAME_ROTATION_HPP_ boost::shared_ptr< ResidualModelAbstract > residual_
Residual model.
Abstract class for cost models.
boost::shared_ptr< ActivationModelAbstract > activation_
Activation model.
State multibody representation.
CostModelFrameRotationTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameRotation &Fref, const std::size_t nu)
Initialize the frame rotation cost model.
virtual void get_referenceImpl(const std::type_info &ti, void *pv)
Return the frame rotation reference.
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Modify the frame rotation reference.
VectorXs unone_
No control vector.
std::size_t nu_
Control dimension.
boost::shared_ptr< StateAbstract > state_
State description.