9 #ifndef CROCODDYL_MULTIBODY_COSTS_STATE_HPP_
10 #define CROCODDYL_MULTIBODY_COSTS_STATE_HPP_
12 #include "crocoddyl/core/fwd.hpp"
13 #include "crocoddyl/multibody/fwd.hpp"
14 #include "crocoddyl/core/state-base.hpp"
15 #include "crocoddyl/core/cost-base.hpp"
16 #include "crocoddyl/multibody/states/multibody.hpp"
17 #include "crocoddyl/core/utils/deprecate.hpp"
38 template <
typename _Scalar>
41 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
43 typedef _Scalar Scalar;
50 typedef typename MathBase::VectorXs VectorXs;
51 typedef typename MathBase::MatrixXs MatrixXs;
62 boost::shared_ptr<ActivationModelAbstract> activation,
const VectorXs& xref,
63 const std::size_t& nu);
75 boost::shared_ptr<ActivationModelAbstract> activation,
const VectorXs& xref);
86 CostModelStateTpl(boost::shared_ptr<typename Base::StateAbstract> state,
const VectorXs& xref,
87 const std::size_t& nu);
98 CostModelStateTpl(boost::shared_ptr<typename Base::StateAbstract> state,
const VectorXs& xref);
110 boost::shared_ptr<ActivationModelAbstract> activation,
const std::size_t& nu);
121 CostModelStateTpl(boost::shared_ptr<typename Base::StateAbstract> state,
const std::size_t& nu);
133 boost::shared_ptr<ActivationModelAbstract> activation);
144 explicit CostModelStateTpl(boost::shared_ptr<typename Base::StateAbstract> state);
154 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
155 const Eigen::Ref<const VectorXs>& u);
164 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
165 const Eigen::Ref<const VectorXs>& u);
172 DEPRECATED(
"Use set_reference<MathBaseTpl<Scalar>::VectorXs>()",
void set_xref(
const VectorXs& xref_in));
173 DEPRECATED(
"Use get_reference<MathBaseTpl<Scalar>::VectorXs>()",
const VectorXs& get_xref()
const);
193 boost::shared_ptr<typename StateMultibody::PinocchioModel> pin_model_;
196 template <
typename _Scalar>
198 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
200 typedef _Scalar Scalar;
204 typedef typename MathBase::MatrixXs MatrixXs;
206 template <
template <
typename Scalar>
class Model>
208 :
Base(model, data), Arr_Rx(model->get_activation()->get_nr(), model->get_state()->get_ndx()) {
214 using Base::activation;
232 #include "crocoddyl/multibody/costs/state.hxx"
234 #endif // CROCODDYL_MULTIBODY_COSTS_STATE_HPP_