9 #ifndef CROCODDYL_MULTIBODY_COSTS_FRAME_PLACEMENT_HPP_ 10 #define CROCODDYL_MULTIBODY_COSTS_FRAME_PLACEMENT_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-placement.hpp" 16 #include "crocoddyl/core/utils/exception.hpp" 18 #include "crocoddyl/multibody/frames-deprecated.hpp" 22 #pragma GCC diagnostic push // TODO: Remove once the deprecated FrameXX has been removed in a future release 23 #pragma GCC diagnostic ignored "-Wdeprecated-declarations" 40 template <
typename _Scalar>
43 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
45 typedef _Scalar Scalar;
52 typedef typename MathBase::VectorXs VectorXs;
53 typedef typename MathBase::Matrix6xs Matrix6xs;
64 boost::shared_ptr<ActivationModelAbstract> activation,
const FramePlacement& Fref,
65 const std::size_t nu);
77 boost::shared_ptr<ActivationModelAbstract> activation,
const FramePlacement& Fref);
89 const std::size_t nu);
122 FramePlacement Mref_;
130 #include "crocoddyl/multibody/costs/frame-placement.hxx" 132 #pragma GCC diagnostic pop 134 #endif // CROCODDYL_MULTIBODY_COSTS_FRAME_PLACEMENT_HPP_ boost::shared_ptr< ResidualModelAbstract > residual_
Residual model.
Abstract class for cost models.
CostModelFramePlacementTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FramePlacement &Fref, const std::size_t nu)
Initialize the frame placement cost model.
virtual void get_referenceImpl(const std::type_info &ti, void *pv)
Return the frame placement reference.
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Modify the frame placement reference.
boost::shared_ptr< ActivationModelAbstract > activation_
Activation model.
State multibody representation.
Frame placement residual.
VectorXs unone_
No control vector.
std::size_t nu_
Control dimension.
boost::shared_ptr< StateAbstract > state_
State description.