9 #ifndef CROCODDYL_CORE_RESIDUALS_CONTROL_HPP_
10 #define CROCODDYL_CORE_RESIDUALS_CONTROL_HPP_
12 #include "crocoddyl/core/fwd.hpp"
13 #include "crocoddyl/core/residual-base.hpp"
31 template <
typename _Scalar>
32 class ResidualModelControlTpl :
public ResidualModelAbstractTpl<_Scalar> {
34 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
36 typedef _Scalar Scalar;
37 typedef MathBaseTpl<Scalar> MathBase;
38 typedef ResidualModelAbstractTpl<Scalar> Base;
39 typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
40 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
41 typedef typename MathBase::VectorXs VectorXs;
42 typedef typename MathBase::MatrixXs MatrixXs;
81 virtual void calc(
const boost::shared_ptr<ResidualDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
82 const Eigen::Ref<const VectorXs>& u);
88 virtual void calc(
const boost::shared_ptr<ResidualDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x);
97 virtual void calcDiff(
const boost::shared_ptr<ResidualDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
98 const Eigen::Ref<const VectorXs>& u);
103 virtual boost::shared_ptr<ResidualDataAbstract>
createData(DataCollectorAbstract*
const data);
120 virtual void print(std::ostream& os)
const;
136 #include "crocoddyl/core/residuals/control.hxx"
138 #endif // CROCODDYL_CORE_RESIDUALS_CONTROL_HPP_