| 44 | }; |
| 45 | |
| 46 | struct MyCost : CostAbstractTpl<double> { |
| 47 | using CostAbstractTpl<double>::CostAbstractTpl; |
| 48 | void evaluate(const ConstVectorRef &, const ConstVectorRef &, |
| 49 | CostData &data) const { |
| 50 | data.value_ = 0.; |
| 51 | } |
| 52 | |
| 53 | void computeGradients(const ConstVectorRef &, const ConstVectorRef &, |
| 54 | CostData &data) const { |
| 55 | data.grad_.setZero(); |
| 56 | } |
| 57 | |
| 58 | void computeHessians(const ConstVectorRef &, const ConstVectorRef &, |
| 59 | CostData &data) const { |
| 60 | data.hess_.setZero(); |
| 61 | } |
| 62 | }; |
| 63 | |
| 64 | #ifdef ALIGATOR_WITH_PINOCCHIO |
| 65 | using Manifold = aligator::SETpl<3, double>; |