9 #ifndef CROCODDYL_MULTIBODY_COSTS_CONTACT_FRICTION_CONE_HPP_
10 #define CROCODDYL_MULTIBODY_COSTS_CONTACT_FRICTION_CONE_HPP_
12 #include "crocoddyl/multibody/fwd.hpp"
13 #include "crocoddyl/core/costs/residual.hpp"
14 #include "crocoddyl/multibody/states/multibody.hpp"
15 #include "crocoddyl/multibody/residuals/contact-friction-cone.hpp"
16 #include "crocoddyl/core/utils/exception.hpp"
18 #include "crocoddyl/multibody/frames-deprecated.hpp"
22 #pragma GCC diagnostic push
23 #pragma GCC diagnostic ignored "-Wdeprecated-declarations"
47 template <
typename _Scalar>
50 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
52 typedef _Scalar Scalar;
60 typedef typename MathBase::VectorXs VectorXs;
71 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameFrictionCone& fref,
72 const std::size_t nu);
84 boost::shared_ptr<ActivationModelAbstract> activation,
97 const std::size_t nu);
137 #include "crocoddyl/multibody/costs/contact-friction-cone.hxx"
139 #pragma GCC diagnostic pop
Abstract class for cost models.
boost::shared_ptr< ActivationModelAbstract > activation_
Activation model.
boost::shared_ptr< StateAbstract > state_
State description.
std::size_t nu_
Control dimension.
VectorXs unone_
No control vector.
boost::shared_ptr< ResidualModelAbstract > residual_
Residual model.
State multibody representation.