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,
const std::size_t nu);
74 boost::shared_ptr<ActivationModelAbstract> activation,
const VectorXs& xref);
85 CostModelStateTpl(boost::shared_ptr<typename Base::StateAbstract> state,
const VectorXs& xref,
const std::size_t nu);
96 CostModelStateTpl(boost::shared_ptr<typename Base::StateAbstract> state,
const VectorXs& xref);
108 boost::shared_ptr<ActivationModelAbstract> activation,
const std::size_t nu);
119 CostModelStateTpl(boost::shared_ptr<typename Base::StateAbstract> state,
const std::size_t nu);
131 boost::shared_ptr<ActivationModelAbstract> activation);
142 explicit CostModelStateTpl(boost::shared_ptr<typename Base::StateAbstract> state);
152 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
153 const Eigen::Ref<const VectorXs>& u);
162 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
163 const Eigen::Ref<const VectorXs>& u);
170 DEPRECATED(
"Use set_reference<MathBaseTpl<Scalar>::VectorXs>()",
void set_xref(
const VectorXs& xref_in));
171 DEPRECATED(
"Use get_reference<MathBaseTpl<Scalar>::VectorXs>()",
const VectorXs& get_xref()
const);
191 boost::shared_ptr<typename StateMultibody::PinocchioModel> pin_model_;
194 template <
typename _Scalar>
196 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
198 typedef _Scalar Scalar;
202 typedef typename MathBase::MatrixXs MatrixXs;
204 template <
template <
typename Scalar>
class Model>
206 :
Base(model, data), Arr_Rx(model->get_activation()->get_nr(), model->get_state()->get_ndx()) {
212 using Base::activation;
230 #include "crocoddyl/multibody/costs/state.hxx"
232 #endif // CROCODDYL_MULTIBODY_COSTS_STATE_HPP_