9 #ifndef CROCODDYL_MULTIBODY_COSTS_COM_POSITION_HPP_
10 #define CROCODDYL_MULTIBODY_COSTS_COM_POSITION_HPP_
12 #include "crocoddyl/multibody/fwd.hpp"
13 #include "crocoddyl/core/cost-base.hpp"
14 #include "crocoddyl/multibody/states/multibody.hpp"
15 #include "crocoddyl/multibody/data/multibody.hpp"
16 #include "crocoddyl/core/utils/exception.hpp"
17 #include "crocoddyl/core/utils/deprecate.hpp"
37 template <
typename _Scalar>
40 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
42 typedef _Scalar Scalar;
50 typedef typename MathBase::Vector3s Vector3s;
51 typedef typename MathBase::VectorXs VectorXs;
62 boost::shared_ptr<ActivationModelAbstract> activation,
const Vector3s& cref,
63 const std::size_t nu);
75 boost::shared_ptr<ActivationModelAbstract> activation,
const Vector3s& cref);
107 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
108 const Eigen::Ref<const VectorXs>& u);
117 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
118 const Eigen::Ref<const VectorXs>& u);
121 DEPRECATED(
"Use set_reference<MathBaseTpl<Scalar>::Vector3s>()",
void set_cref(
const Vector3s& cref_in));
122 DEPRECATED(
"Use get_reference<MathBaseTpl<Scalar>::Vector3s>()",
const Vector3s& get_cref()
const);
144 template <
typename _Scalar>
146 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
148 typedef _Scalar Scalar;
152 typedef typename MathBase::Matrix3xs Matrix3xs;
154 template <
template <
typename Scalar>
class Model>
156 :
Base(model, data), Arr_Jcom(3, model->get_state()->get_nv()) {
161 throw_pretty(
"Invalid argument: the shared data should be derived from DataCollectorMultibody");
165 pinocchio = d->pinocchio;
168 pinocchio::DataTpl<Scalar>* pinocchio;
171 using Base::activation;
189 #include "crocoddyl/multibody/costs/com-position.hxx"
191 #endif // CROCODDYL_MULTIBODY_COSTS_COM_POSITION_HPP_