9 #ifndef CROCODDYL_MULTIBODY_COSTS_MOMENTUM_HPP_ 10 #define CROCODDYL_MULTIBODY_COSTS_MOMENTUM_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/centroidal-momentum.hpp" 16 #include "crocoddyl/multibody/data/multibody.hpp" 17 #include "crocoddyl/core/utils/exception.hpp" 36 template <
typename _Scalar>
39 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
41 typedef _Scalar Scalar;
47 typedef typename MathBase::Vector6s Vector6s;
48 typedef typename MathBase::VectorXs VectorXs;
49 typedef typename MathBase::MatrixXs MatrixXs;
50 typedef typename MathBase::Matrix6xs Matrix6xs;
61 boost::shared_ptr<ActivationModelAbstract> activation,
const Vector6s& mref,
62 const std::size_t nu);
74 boost::shared_ptr<ActivationModelAbstract> activation,
const Vector6s& mref);
125 #include "crocoddyl/multibody/costs/centroidal-momentum.hxx" 127 #endif // CROCODDYL_MULTIBODY_COSTS_MOMENTUM_HPP_ Centroidal momentum residual.
Centroidal momentum cost.
boost::shared_ptr< ResidualModelAbstract > residual_
Residual model.
Abstract class for cost models.
boost::shared_ptr< ActivationModelAbstract > activation_
Activation model.
State multibody representation.
CostModelCentroidalMomentumTpl(boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const Vector6s &mref, const std::size_t nu)
Initialize the centroidal momentum cost model.
virtual void get_referenceImpl(const std::type_info &ti, void *pv)
Return the centroidal momentum reference.
VectorXs unone_
No control vector.
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Modify the centroidal momentum reference.
std::size_t nu_
Control dimension.
boost::shared_ptr< StateAbstract > state_
State description.