9 #ifndef CROCODDYL_MULTIBODY_COSTS_IMPULSE_COP_POSITION_HPP_ 10 #define CROCODDYL_MULTIBODY_COSTS_IMPULSE_COP_POSITION_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-cop-position.hpp" 16 #include "crocoddyl/multibody/frames.hpp" 17 #include "crocoddyl/core/activations/quadratic-barrier.hpp" 18 #include "crocoddyl/core/utils/exception.hpp" 53 template <
typename _Scalar>
56 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
58 typedef _Scalar Scalar;
67 typedef typename MathBase::VectorXs VectorXs;
68 typedef typename MathBase::MatrixXs MatrixXs;
69 typedef typename MathBase::Matrix3s Matrix3s;
79 boost::shared_ptr<ActivationModelAbstract> activation,
80 const FrameCoPSupport& cop_support);
111 FrameCoPSupport cop_support_;
119 #include "crocoddyl/multibody/costs/impulse-cop-position.hxx" 121 #endif // CROCODDYL_MULTIBODY_COSTS_IMPULSE_COP_POSITION_HPP_ boost::shared_ptr< ResidualModelAbstract > residual_
Residual model.
Abstract class for cost models.
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Return the frame CoP support.
boost::shared_ptr< ActivationModelAbstract > activation_
Activation model.
State multibody representation.
virtual void get_referenceImpl(const std::type_info &ti, void *pv)
Modify the frame CoP support.
std::size_t nu_
Control dimension.
boost::shared_ptr< StateAbstract > state_
State description.
CostModelImpulseCoPPositionTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameCoPSupport &cop_support)
Initialize the impulse CoP cost model.
Define a center of pressure cost function.