9 #ifndef CROCODDYL_MULTIBODY_COSTS_CONTACT_COP_POSITION_HPP_ 10 #define CROCODDYL_MULTIBODY_COSTS_CONTACT_COP_POSITION_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-cop-position.hpp" 16 #include "crocoddyl/multibody/frames.hpp" 17 #include "crocoddyl/core/activations/quadratic-barrier.hpp" 18 #include "crocoddyl/core/utils/exception.hpp" 52 template <
typename _Scalar>
55 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
57 typedef _Scalar Scalar;
67 typedef typename MathBase::Matrix3s Matrix3s;
68 typedef typename MathBase::VectorXs VectorXs;
79 boost::shared_ptr<ActivationModelAbstract> activation,
80 const FrameCoPSupport& cop_support,
const std::size_t nu);
92 boost::shared_ptr<ActivationModelAbstract> activation,
93 const FrameCoPSupport& cop_support);
106 const std::size_t nu);
139 FrameCoPSupport cop_support_;
147 #include "crocoddyl/multibody/costs/contact-cop-position.hxx" 149 #endif // CROCODDYL_MULTIBODY_COSTS_CONTACT_COP_POSITION_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.