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/state-base.hpp" 15 #include "crocoddyl/core/cost-base.hpp" 16 #include "crocoddyl/multibody/states/multibody.hpp" 17 #include "crocoddyl/core/utils/deprecate.hpp" 38 template <
typename _Scalar>
41 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
43 typedef _Scalar Scalar;
50 typedef typename MathBase::VectorXs VectorXs;
51 typedef typename MathBase::MatrixXs MatrixXs;
62 boost::shared_ptr<ActivationModelAbstract> activation,
const VectorXs& xref,
const std::size_t nu);
74 boost::shared_ptr<ActivationModelAbstract> activation,
const VectorXs& xref);
85 CostModelStateTpl(boost::shared_ptr<typename Base::StateAbstract> state,
const VectorXs& xref,
const std::size_t nu);
96 CostModelStateTpl(boost::shared_ptr<typename Base::StateAbstract> state,
const VectorXs& xref);
108 boost::shared_ptr<ActivationModelAbstract> activation,
const std::size_t nu);
119 CostModelStateTpl(boost::shared_ptr<typename Base::StateAbstract> state,
const std::size_t nu);
131 boost::shared_ptr<ActivationModelAbstract> activation);
142 explicit CostModelStateTpl(boost::shared_ptr<typename Base::StateAbstract> state);
152 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
153 const Eigen::Ref<const VectorXs>& u);
162 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
163 const Eigen::Ref<const VectorXs>& u);
168 virtual boost::shared_ptr<CostDataAbstract>
createData(DataCollectorAbstract*
const data);
170 DEPRECATED(
"Use set_reference<MathBaseTpl<Scalar>::VectorXs>()",
void set_xref(
const VectorXs& xref_in));
171 DEPRECATED(
"Use get_reference<MathBaseTpl<Scalar>::VectorXs>()",
const VectorXs& get_xref()
const);
191 boost::shared_ptr<typename StateMultibody::PinocchioModel> pin_model_;
194 template <
typename _Scalar>
196 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
198 typedef _Scalar Scalar;
202 typedef typename MathBase::MatrixXs MatrixXs;
204 template <
template <
typename Scalar>
class Model>
205 CostDataStateTpl(Model<Scalar>*
const model, DataCollectorAbstract*
const data)
206 : Base(model, data), Arr_Rx(model->get_activation()->get_nr(), model->get_state()->get_ndx()) {
212 using Base::activation;
230 #include "crocoddyl/multibody/costs/state.hxx" 232 #endif // CROCODDYL_MULTIBODY_COSTS_STATE_HPP_ Abstract class for cost models.
virtual void calc(const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the state cost.
boost::shared_ptr< ActivationModelAbstract > activation_
Activation model.
State multibody representation.
virtual void get_referenceImpl(const std::type_info &ti, void *pv) const
Return the state reference.
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Modify the state reference.
virtual boost::shared_ptr< CostDataAbstract > createData(DataCollectorAbstract *const data)
Create the state cost data.
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.