Mechanical power in cost function

[MR-KNV]

Hello!
Thanks fo such great library!

Could you give me some hints how I can add a mechanical power to cost function? I need it for biped locomotion problem
Do I understand correctly that I should inherit aligator.CostAbstract (like you did here) to create my own cost class? Here you use QuadraticDistanceCost class as a 'basis' to guarantee desired state. Which analogue of QuadraticDistanceCost I can use to minimize u.T*x[nq:] value?

[ManifoldFR]

Hello, thanks for your interest in aligator!

If your problem is Euclidean, you can just use the QuadraticCost class and set the cross-term matrix appropriately so that an u^\top v term can appear.
Something like

$$ N = \begin{bmatrix} 0_{n_u\times n_v} & I_{n_u\times n_v} \end{bmatrix} $$

Otherwise, indeed a subclass to aligator.CostAbstract would work.

[MR-KNV]

Thanks for your reply!
Yes, I tried this but I got following error

As I understand because I have a space with unequal dimensions of space.ndx = space.nx - 1
(I checked it with Talos model as well and got similar error)

[ManifoldFR]

Oh if it's Talos then it's non-Euclidean ! You'll have to write your own class in that case.

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On Mon, 9 Dec 2024, 19:52 Nasonov Kirill, ***@***.***> wrote: Thanks for your reply! Yes, I tried this but I got following error photo_2024-12-05_15-20-16.jpg (view on web) <https://github.com/user-attachments/assets/88460438-643d-4fa5-8d93-ae0551d19810> As I understand because I have a space with unequal dimensions of space.ndx = space.nx - 1 (I checked it with Talos model as well and got similar error) — Reply to this email directly, view it on GitHub <#251 (reply in thread)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AFA427ADY5BGWLRTWC37JM32EXRHPAVCNFSM6AAAAABTJFE5MSVHI2DSMVQWIX3LMV43URDJONRXK43TNFXW4Q3PNVWWK3TUHMYTCNJRGE4TKNY> . You are receiving this because you commented.Message ID: ***@***.*** com>

[MR-KNV]

Ok, thanks a lot
I'll try it