9 #ifndef CROCODDYL_MULTIBODY_COSTS_STATE_HPP_ 10 #define CROCODDYL_MULTIBODY_COSTS_STATE_HPP_ 12 #include "crocoddyl/multibody/fwd.hpp" 13 #include "crocoddyl/core/state-base.hpp" 14 #include "crocoddyl/multibody/cost-base.hpp" 18 template <
typename _Scalar>
21 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
23 typedef _Scalar Scalar;
31 typedef typename MathBase::VectorXs VectorXs;
32 typedef typename MathBase::MatrixXs MatrixXs;
34 CostModelStateTpl(boost::shared_ptr<StateMultibody> state, boost::shared_ptr<ActivationModelAbstract> activation,
35 const VectorXs& xref,
const std::size_t& nu);
36 CostModelStateTpl(boost::shared_ptr<StateMultibody> state, boost::shared_ptr<ActivationModelAbstract> activation,
37 const VectorXs& xref);
38 CostModelStateTpl(boost::shared_ptr<StateMultibody> state,
const VectorXs& xref,
const std::size_t& nu);
40 CostModelStateTpl(boost::shared_ptr<StateMultibody> state, boost::shared_ptr<ActivationModelAbstract> activation,
41 const std::size_t& nu);
42 CostModelStateTpl(boost::shared_ptr<StateMultibody> state,
const std::size_t& nu);
43 CostModelStateTpl(boost::shared_ptr<StateMultibody> state, boost::shared_ptr<ActivationModelAbstract> activation);
47 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
48 const Eigen::Ref<const VectorXs>& u);
49 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
50 const Eigen::Ref<const VectorXs>& u);
51 virtual boost::shared_ptr<CostDataAbstract> createData(DataCollectorAbstract*
const data);
53 const VectorXs& get_xref()
const;
54 void set_xref(
const VectorXs& xref_in);
57 virtual void set_referenceImpl(
const std::type_info& ti,
const void* pv);
58 virtual void get_referenceImpl(
const std::type_info& ti,
void* pv);
60 using Base::activation_;
69 template <
typename _Scalar>
71 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
73 typedef _Scalar Scalar;
77 typedef typename MathBase::VectorXs VectorXs;
78 typedef typename MathBase::MatrixXs MatrixXs;
80 template <
template <
typename Scalar>
class Model>
81 CostDataStateTpl(Model<Scalar>*
const model, DataCollectorAbstract*
const data)
82 : Base(model, data), Arr_Rx(model->get_activation()->get_nr(), model->get_state()->get_ndx()) {
88 using Base::activation;
106 #include "crocoddyl/multibody/costs/state.hxx" 108 #endif // CROCODDYL_MULTIBODY_COSTS_STATE_HPP_