Skip to content
GitLab

Cost and activation abstractions + quadratic activation (c++ and Python bindings)

Merged Carlos Mastalli requested to merge cmastall/crocoddyl:topic/cpp-cost-pinocchio into cpp_devel

In this PR I have written the c++ code, and its Python bindings, for the main classes:

  • CostModelAbstract (old called CostModelPinocchio)
  • ActivationModelAbstract
  • ActivationModelQuad

I have improved the legacy API, unfortunately it's not good for activation and costs. The main changes is to include the activation inside the construction of a cost. I am also created a common data for activation model. The rest remains the same!

Additionally, I have to renamed the states and actions files.

This PR solves #201 (closed), #202 (closed) and #192 (closed)