9 #ifndef CROCODDYL_MULTIBODY_COSTS_CONTACT_FRICTION_CONE_HPP_ 10 #define CROCODDYL_MULTIBODY_COSTS_CONTACT_FRICTION_CONE_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/contact-friction-cone.hpp" 16 #include "crocoddyl/multibody/frames.hpp" 17 #include "crocoddyl/core/utils/exception.hpp" 43 template <
typename _Scalar>
46 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
48 typedef _Scalar Scalar;
56 typedef typename MathBase::VectorXs VectorXs;
67 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameFrictionCone& fref,
68 const std::size_t nu);
80 boost::shared_ptr<ActivationModelAbstract> activation,
81 const FrameFrictionCone& fref);
93 const std::size_t nu);
125 FrameFrictionCone fref_;
133 #include "crocoddyl/multibody/costs/contact-friction-cone.hxx" 135 #endif // CROCODDYL_MULTIBODY_COSTS_CONTACT_FRICTION_CONE_HPP_ boost::shared_ptr< ResidualModelAbstract > residual_
Residual model.
Abstract class for cost models.
boost::shared_ptr< ActivationModelAbstract > activation_
Activation model.
State multibody representation.
VectorXs unone_
No control vector.
std::size_t nu_
Control dimension.
boost::shared_ptr< StateAbstract > state_
State description.