9 #ifndef CROCODDYL_MULTIBODY_RESIDUALS_STATE_HPP_
10 #define CROCODDYL_MULTIBODY_RESIDUALS_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/residual-base.hpp"
16 #include "crocoddyl/multibody/states/multibody.hpp"
34 template <
typename _Scalar>
35 class ResidualModelStateTpl :
public ResidualModelAbstractTpl<_Scalar> {
37 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
39 typedef _Scalar Scalar;
40 typedef MathBaseTpl<Scalar> MathBase;
41 typedef ResidualModelAbstractTpl<Scalar> Base;
42 typedef StateMultibodyTpl<Scalar> StateMultibody;
43 typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
44 typedef ActivationModelAbstractTpl<Scalar> ActivationModelAbstract;
45 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
46 typedef typename MathBase::VectorXs VectorXs;
47 typedef typename MathBase::MatrixXs MatrixXs;
57 const std::size_t nu);
98 virtual void calc(
const boost::shared_ptr<ResidualDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
99 const Eigen::Ref<const VectorXs>& u);
108 virtual void calcDiff(
const boost::shared_ptr<ResidualDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
109 const Eigen::Ref<const VectorXs>& u);
126 virtual void print(std::ostream& os)
const;
143 #include "crocoddyl/multibody/residuals/state.hxx"
145 #endif // CROCODDYL_MULTIBODY_RESIDUALS_STATE_HPP_