9 #ifndef CROCODDYL_MULTIBODY_COSTS_IMPULSE_FRICTION_CONE_HPP_ 10 #define CROCODDYL_MULTIBODY_COSTS_IMPULSE_FRICTION_CONE_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-friction-cone.hpp" 16 #include "crocoddyl/multibody/frames.hpp" 17 #include "crocoddyl/core/utils/exception.hpp" 43 template <
typename _Scalar>
46 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
48 typedef _Scalar Scalar;
54 typedef typename MathBase::VectorXs VectorXs;
64 boost::shared_ptr<ActivationModelAbstract> activation,
65 const FrameFrictionCone& fref);
94 FrameFrictionCone fref_;
102 #include "crocoddyl/multibody/costs/impulse-friction-cone.hxx" 104 #endif // CROCODDYL_MULTIBODY_COSTS_IMPULSE_FRICTION_CONE_HPP_ boost::shared_ptr< ResidualModelAbstract > residual_
Residual model.
Abstract class for cost models.
Impulse friction cone cost.
boost::shared_ptr< ActivationModelAbstract > activation_
Activation model.
State multibody representation.
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Modify the impulse friction cone reference.
CostModelImpulseFrictionConeTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameFrictionCone &fref)
Initialize the impulse friction cone cost model.
virtual void get_referenceImpl(const std::type_info &ti, void *pv)
Return the impulse friction cone reference.
boost::shared_ptr< StateAbstract > state_
State description.