9 #ifndef CROCODDYL_MULTIBODY_COSTS_CONTROL_HPP_ 10 #define CROCODDYL_MULTIBODY_COSTS_CONTROL_HPP_ 12 #include "crocoddyl/multibody/fwd.hpp" 13 #include "crocoddyl/multibody/cost-base.hpp" 14 #include "crocoddyl/core/utils/deprecate.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 CostModelControlTpl(boost::shared_ptr<StateMultibody> state, boost::shared_ptr<ActivationModelAbstract> activation,
35 const VectorXs& uref);
36 CostModelControlTpl(boost::shared_ptr<StateMultibody> state, boost::shared_ptr<ActivationModelAbstract> activation);
37 CostModelControlTpl(boost::shared_ptr<StateMultibody> state, boost::shared_ptr<ActivationModelAbstract> activation,
38 const std::size_t& nu);
44 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
45 const Eigen::Ref<const VectorXs>& u);
46 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
47 const Eigen::Ref<const VectorXs>& u);
49 DEPRECATED(
"Use set_reference<MathbTpl<Scalare>::VectorXs>()",
void set_uref(
const VectorXs& uref_in));
50 DEPRECATED(
"Use get_reference<MathbTpl<Scalare>::VectorXs>()",
const VectorXs& get_uref()
const);
53 virtual void set_referenceImpl(
const std::type_info& ti,
const void* pv);
54 virtual void get_referenceImpl(
const std::type_info& ti,
void* pv)
const;
56 using Base::activation_;
70 #include "crocoddyl/multibody/costs/control.hxx" 72 #endif // CROCODDYL_MULTIBODY_COSTS_CONTROL_HPP_