9 #ifndef CROCODDYL_MULTIBODY_COSTS_FRAME_VELOCITY_HPP_ 10 #define CROCODDYL_MULTIBODY_COSTS_FRAME_VELOCITY_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/frame-velocity.hpp" 16 #include "crocoddyl/multibody/data/multibody.hpp" 17 #include "crocoddyl/multibody/frames.hpp" 18 #include "crocoddyl/core/utils/exception.hpp" 38 template <
typename _Scalar>
41 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
43 typedef _Scalar Scalar;
51 typedef typename MathBase::VectorXs VectorXs;
62 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameMotion& Fref,
63 const std::size_t nu);
75 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameMotion& Fref);
126 #include "crocoddyl/multibody/costs/frame-velocity.hxx" 128 #endif // CROCODDYL_MULTIBODY_COSTS_FRAME_VELOCITY_HPP_
CostModelFrameVelocityTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameMotion &Fref, const std::size_t nu)
Initialize the frame velocity cost model.
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 frame velocity reference.
VectorXs unone_
No control vector.
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Modify the frame velocity reference.
std::size_t nu_
Control dimension.
boost::shared_ptr< StateAbstract > state_
State description.