9 #ifndef CROCODDYL_MULTIBODY_COSTS_STATE_HPP_ 10 #define CROCODDYL_MULTIBODY_COSTS_STATE_HPP_ 12 #include "crocoddyl/core/fwd.hpp" 13 #include "crocoddyl/multibody/fwd.hpp" 14 #include "crocoddyl/core/costs/residual.hpp" 15 #include "crocoddyl/multibody/residuals/state.hpp" 16 #include "crocoddyl/multibody/states/multibody.hpp" 36 template <
typename _Scalar>
39 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
41 typedef _Scalar Scalar;
48 typedef typename MathBase::VectorXs VectorXs;
49 typedef typename MathBase::MatrixXs MatrixXs;
60 boost::shared_ptr<ActivationModelAbstract> activation,
const VectorXs& xref,
const std::size_t nu);
72 boost::shared_ptr<ActivationModelAbstract> activation,
const VectorXs& xref);
83 CostModelStateTpl(boost::shared_ptr<typename Base::StateAbstract> state,
const VectorXs& xref,
const std::size_t nu);
94 CostModelStateTpl(boost::shared_ptr<typename Base::StateAbstract> state,
const VectorXs& xref);
106 boost::shared_ptr<ActivationModelAbstract> activation,
const std::size_t nu);
117 CostModelStateTpl(boost::shared_ptr<typename Base::StateAbstract> state,
const std::size_t nu);
129 boost::shared_ptr<ActivationModelAbstract> activation);
140 explicit CostModelStateTpl(boost::shared_ptr<typename Base::StateAbstract> state);
150 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
151 const Eigen::Ref<const VectorXs>& u);
172 boost::shared_ptr<typename StateMultibody::PinocchioModel> pin_model_;
180 #include "crocoddyl/multibody/costs/state.hxx" 182 #endif // CROCODDYL_MULTIBODY_COSTS_STATE_HPP_ boost::shared_ptr< ResidualModelAbstract > residual_
Residual model.
Abstract class for cost models.
boost::shared_ptr< ActivationModelAbstract > activation_
Activation model.
State multibody representation.
virtual void get_referenceImpl(const std::type_info &ti, void *pv)
Return the state reference.
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Modify the state reference.
CostModelStateTpl(boost::shared_ptr< typename Base::StateAbstract > state, boost::shared_ptr< ActivationModelAbstract > activation, const VectorXs &xref, const std::size_t nu)
Initialize the state cost model.
VectorXs unone_
No control vector.
std::size_t nu_
Control dimension.
boost::shared_ptr< StateAbstract > state_
State description.
virtual void calcDiff(const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the derivatives of the state cost.