9 #ifndef CROCODDYL_MULTIBODY_COSTS_CONTACT_WRENCH_CONE_HPP_
10 #define CROCODDYL_MULTIBODY_COSTS_CONTACT_WRENCH_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-wrench-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"
25 template <
typename _Scalar>
28 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
30 typedef _Scalar Scalar;
37 typedef typename MathBase::VectorXs VectorXs;
38 typedef typename MathBase::MatrixXs MatrixXs;
39 typedef typename MathBase::MatrixX6s MatrixX6s;
42 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameWrenchCone& fref,
43 const std::size_t nu);
45 boost::shared_ptr<ActivationModelAbstract> activation,
const FrameWrenchCone& fref);
47 const std::size_t nu);
70 #include "crocoddyl/multibody/costs/contact-wrench-cone.hxx"
72 #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.