9 #ifndef CROCODDYL_MULTIBODY_COSTS_CONTACT_WRENCH_CONE_HPP_ 10 #define CROCODDYL_MULTIBODY_COSTS_CONTACT_WRENCH_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-wrench-cone.hpp" 16 #include "crocoddyl/multibody/frames.hpp" 17 #include "crocoddyl/core/utils/exception.hpp" 21 template <
typename _Scalar>
24 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
26 typedef _Scalar Scalar;
33 typedef typename MathBase::VectorXs VectorXs;
34 typedef typename MathBase::MatrixXs MatrixXs;
35 typedef typename MathBase::MatrixX6s MatrixX6s;
38 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameWrenchCone& fref,
39 const std::size_t nu);
41 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameWrenchCone& fref);
43 const std::size_t nu);
58 FrameWrenchCone fref_;
66 #include "crocoddyl/multibody/costs/contact-wrench-cone.hxx" 68 #endif // CROCODDYL_MULTIBODY_COSTS_CONTACT_WRENCH_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.