control-gravity-contact.hpp

// BSD 3-Clause License
//
// Copyright (C) 2020-2021, LAAS-CNRS, University of Edinburgh, INRIA
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
 
#ifndef CROCODDYL_CORE_COSTS_CONTROL_GRAVITY_CONTACT_HPP_
#define CROCODDYL_CORE_COSTS_CONTROL_GRAVITY_CONTACT_HPP_
 
#include "crocoddyl/core/costs/residual.hpp"
#include "crocoddyl/multibody/states/multibody.hpp"
#include "crocoddyl/multibody/residuals/contact-control-gravity.hpp"
#include "crocoddyl/core/utils/exception.hpp"
 
namespace crocoddyl {
 
template <typename _Scalar>
class CostModelControlGravContactTpl : public CostModelResidualTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef CostModelResidualTpl<Scalar> Base;
  typedef StateMultibodyTpl<Scalar> StateMultibody;
  typedef ActivationModelAbstractTpl<Scalar> ActivationModelAbstract;
  typedef ActuationModelAbstractTpl<Scalar> ActuationModelAbstract;
  typedef ResidualModelContactControlGravTpl<Scalar> ResidualModelContactControlGrav;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  CostModelControlGravContactTpl(boost::shared_ptr<StateMultibody> state,
                                 boost::shared_ptr<ActivationModelAbstract> activation, const std::size_t nu);
 
  CostModelControlGravContactTpl(boost::shared_ptr<StateMultibody> state,
                                 boost::shared_ptr<ActivationModelAbstract> activation);
 
  CostModelControlGravContactTpl(boost::shared_ptr<StateMultibody> state, const std::size_t nu);
 
  explicit CostModelControlGravContactTpl(boost::shared_ptr<StateMultibody> state);
  virtual ~CostModelControlGravContactTpl();
 
 protected:
  using Base::activation_;
  using Base::nu_;
  using Base::residual_;
  using Base::state_;
  using Base::unone_;
};
 
}  // namespace crocoddyl
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/multibody/costs/control-gravity-contact.hxx"
 
#endif  // CROCODDYL_MULTIBODY_COSTS_CONTROL_GRAVITY_CONTACT_HPP_