9 #ifndef CROCODDYL_MULTIBODY_COSTS_CONTACT_COP_POSITION_HPP_ 10 #define CROCODDYL_MULTIBODY_COSTS_CONTACT_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/core/activations/quadratic-barrier.hpp" 17 #include "crocoddyl/core/utils/exception.hpp" 19 #include "crocoddyl/multibody/frames-deprecated.hpp" 23 #pragma GCC diagnostic push // TODO: Remove once the deprecated FrameXX has been removed in a future release 24 #pragma GCC diagnostic ignored "-Wdeprecated-declarations" 56 template <
typename _Scalar>
59 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
61 typedef _Scalar Scalar;
71 typedef typename MathBase::Matrix3s Matrix3s;
72 typedef typename MathBase::VectorXs VectorXs;
83 boost::shared_ptr<ActivationModelAbstract> activation,
84 const FrameCoPSupport& cop_support,
const std::size_t nu);
96 boost::shared_ptr<ActivationModelAbstract> activation,
97 const FrameCoPSupport& cop_support);
110 const std::size_t nu);
143 FrameCoPSupport cop_support_;
151 #include "crocoddyl/multibody/costs/contact-cop-position.hxx" 153 #pragma GCC diagnostic pop 155 #endif // CROCODDYL_MULTIBODY_COSTS_CONTACT_COP_POSITION_HPP_ boost::shared_ptr< ResidualModelAbstract > residual_
Residual model.
Abstract class for cost models.
boost::shared_ptr< ActivationModelAbstract > activation_
Activation model.
State multibody representation.
VectorXs unone_
No control vector.
std::size_t nu_
Control dimension.
boost::shared_ptr< StateAbstract > state_
State description.