9 #ifndef CROCODDYL_CORE_COSTS_CONTROL_GRAVITY_HPP_ 10 #define CROCODDYL_CORE_COSTS_CONTROL_GRAVITY_HPP_ 12 #include "crocoddyl/core/costs/residual.hpp" 13 #include "crocoddyl/multibody/states/multibody.hpp" 14 #include "crocoddyl/multibody/residuals/control-gravity.hpp" 15 #include "crocoddyl/core/utils/exception.hpp" 35 template <
typename _Scalar>
38 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
40 typedef _Scalar Scalar;
46 typedef typename MathBase::VectorXs VectorXs;
47 typedef typename MathBase::MatrixXs MatrixXs;
57 boost::shared_ptr<ActivationModelAbstract> activation,
const std::size_t nu);
68 boost::shared_ptr<ActivationModelAbstract> activation);
107 #include "crocoddyl/multibody/costs/control-gravity.hxx" 109 #endif // CROCODDYL_MULTIBODY_COSTS_CONTROL_GRAVITY_HPP_ boost::shared_ptr< ResidualModelAbstract > residual_
Residual model.
Abstract class for cost models.
boost::shared_ptr< ActivationModelAbstract > activation_
Activation model.
State multibody representation.
CostModelControlGravTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const std::size_t nu)
Initialize the control gravity cost model.
VectorXs unone_
No control vector.
std::size_t nu_
Control dimension.
boost::shared_ptr< StateAbstract > state_
State description.
Control gravity residual.