crocoddyl  1.8.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
impulse-com.hpp
1 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2021, LAAS-CNRS, University of Edinburgh, INRIA
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
8 
9 #ifndef CROCODDYL_MULTIBODY_COSTS_IMPULSE_COM_HPP_
10 #define CROCODDYL_MULTIBODY_COSTS_IMPULSE_COM_HPP_
11 
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/impulse-com.hpp"
16 #include "crocoddyl/multibody/frames.hpp"
17 #include "crocoddyl/core/utils/exception.hpp"
18 
19 namespace crocoddyl {
20 
37 template <typename _Scalar>
39  public:
40  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
41 
42  typedef _Scalar Scalar;
48  typedef typename MathBase::VectorXs VectorXs;
49 
56  CostModelImpulseCoMTpl(boost::shared_ptr<StateMultibody> state,
57  boost::shared_ptr<ActivationModelAbstract> activation);
58 
67  CostModelImpulseCoMTpl(boost::shared_ptr<StateMultibody> state);
68  virtual ~CostModelImpulseCoMTpl();
69 
70  protected:
71  using Base::activation_;
72  using Base::nu_;
73  using Base::residual_;
74  using Base::state_;
75  using Base::unone_;
76 };
77 
78 } // namespace crocoddyl
79 
80 /* --- Details -------------------------------------------------------------- */
81 /* --- Details -------------------------------------------------------------- */
82 /* --- Details -------------------------------------------------------------- */
83 #include "crocoddyl/multibody/costs/impulse-com.hxx"
84 
85 #endif // CROCODDYL_MULTIBODY_COSTS_IMPULSE_COM_HPP_
boost::shared_ptr< ResidualModelAbstract > residual_
Residual model.
Definition: cost-base.hpp:236
Abstract class for cost models.
Definition: cost-base.hpp:49
Residual-based cost.
Definition: residual.hpp:36
boost::shared_ptr< ActivationModelAbstract > activation_
Activation model.
Definition: cost-base.hpp:235
State multibody representation.
Definition: fwd.hpp:300
Impulse CoM residual.
Definition: fwd.hpp:152
VectorXs unone_
No control vector.
Definition: cost-base.hpp:238
std::size_t nu_
Control dimension.
Definition: cost-base.hpp:237
CostModelImpulseCoMTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation)
Initialize the impulse CoM cost model.
boost::shared_ptr< StateAbstract > state_
State description.
Definition: cost-base.hpp:234