9 #ifndef CROCODDYL_MULTIBODY_COSTS_CONTACT_FORCE_HPP_ 10 #define CROCODDYL_MULTIBODY_COSTS_CONTACT_FORCE_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-force.hpp" 17 #include "crocoddyl/multibody/frames-deprecated.hpp" 21 #pragma GCC diagnostic push // TODO: Remove once the deprecated FrameXX has been removed in a future release 22 #pragma GCC diagnostic ignored "-Wdeprecated-declarations" 42 template <
typename _Scalar>
45 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
47 typedef _Scalar Scalar;
54 typedef typename MathBase::VectorXs VectorXs;
55 typedef typename MathBase::MatrixXs MatrixXs;
68 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameForce& fref,
69 const std::size_t nu);
82 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameForce& fref);
96 const std::size_t nu);
149 #include "crocoddyl/multibody/costs/contact-force.hxx" 151 #pragma GCC diagnostic pop 153 #endif // CROCODDYL_MULTIBODY_COSTS_CONTACT_FORCE_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.