9 #ifndef CROCODDYL_CORE_COSTS_CONTROL_HPP_
10 #define CROCODDYL_CORE_COSTS_CONTROL_HPP_
12 #include "crocoddyl/core/fwd.hpp"
13 #include "crocoddyl/core/cost-base.hpp"
14 #include "crocoddyl/core/utils/deprecate.hpp"
34 template <
typename _Scalar>
37 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
39 typedef _Scalar Scalar;
44 typedef typename MathBase::VectorXs VectorXs;
56 boost::shared_ptr<ActivationModelAbstract> activation,
const VectorXs& uref);
67 boost::shared_ptr<ActivationModelAbstract> activation);
79 boost::shared_ptr<ActivationModelAbstract> activation,
const std::size_t& nu);
90 CostModelControlTpl(boost::shared_ptr<typename Base::StateAbstract> state,
const VectorXs& uref);
113 CostModelControlTpl(boost::shared_ptr<typename Base::StateAbstract> state,
const std::size_t& nu);
123 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
124 const Eigen::Ref<const VectorXs>& u);
133 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
134 const Eigen::Ref<const VectorXs>& u);
136 DEPRECATED(
"Use set_reference<MathbTpl<Scalare>::VectorXs>()",
void set_uref(
const VectorXs& uref_in));
137 DEPRECATED(
"Use get_reference<MathbTpl<Scalare>::VectorXs>()",
const VectorXs& get_uref()
const);
164 #include "crocoddyl/core/costs/control.hxx"
166 #endif // CROCODDYL_CORE_COSTS_CONTROL_HPP_