crocoddyl
1.7.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
fwd.hpp
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// BSD 3-Clause License
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//
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// Copyright (C) 2019-2020, LAAS-CNRS, University of Edinburgh
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// Copyright note valid unless otherwise stated in individual files.
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// All rights reserved.
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#ifndef CROCODDYL_MULTIBODY_FWD_HPP_
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#define CROCODDYL_MULTIBODY_FWD_HPP_
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namespace
crocoddyl
{
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// actuation
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template
<
typename
Scalar>
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class
ActuationModelFloatingBaseTpl;
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template
<
typename
Scalar>
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class
ActuationModelFullTpl;
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template
<
typename
Scalar>
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class
ActuationModelMultiCopterBaseTpl;
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// contact
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template
<
typename
Scalar>
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class
ContactModelAbstractTpl;
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template
<
typename
Scalar>
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struct
ContactDataAbstractTpl;
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// action
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template
<
typename
Scalar>
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class
ActionModelImpulseFwdDynamicsTpl;
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template
<
typename
Scalar>
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struct
ActionDataImpulseFwdDynamicsTpl;
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// differential action
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template
<
typename
Scalar>
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class
DifferentialActionModelFreeFwdDynamicsTpl;
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template
<
typename
Scalar>
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struct
DifferentialActionDataFreeFwdDynamicsTpl;
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template
<
typename
Scalar>
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class
DifferentialActionModelContactFwdDynamicsTpl;
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template
<
typename
Scalar>
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struct
DifferentialActionDataContactFwdDynamicsTpl;
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// numdiff
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template
<
typename
Scalar>
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class
CostModelNumDiffTpl;
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template
<
typename
Scalar>
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struct
CostDataNumDiffTpl;
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template
<
typename
Scalar>
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class
ContactModelNumDiffTpl
;
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template
<
typename
Scalar>
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struct
ContactDataNumDiffTpl
;
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// frame
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template
<
typename
Scalar>
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struct
FrameTranslationTpl
;
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template
<
typename
Scalar>
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struct
FrameRotationTpl
;
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template
<
typename
Scalar>
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struct
FramePlacementTpl
;
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template
<
typename
Scalar>
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struct
FrameMotionTpl
;
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template
<
typename
Scalar>
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struct
FrameForceTpl
;
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template
<
typename
Scalar>
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struct
FrameFrictionConeTpl
;
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template
<
typename
Scalar>
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struct
FrameWrenchConeTpl
;
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template
<
typename
Scalar>
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struct
FrameCoPSupportTpl
;
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// cost
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template
<
typename
Scalar>
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class
CostModelFrameTranslationTpl
;
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template
<
typename
Scalar>
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struct
CostDataFrameTranslationTpl
;
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template
<
typename
Scalar>
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class
CostModelCentroidalMomentumTpl
;
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template
<
typename
Scalar>
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struct
CostDataCentroidalMomentumTpl
;
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template
<
typename
Scalar>
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class
CostModelCoMPositionTpl
;
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template
<
typename
Scalar>
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struct
CostDataCoMPositionTpl
;
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template
<
typename
Scalar>
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class
CostModelFramePlacementTpl
;
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template
<
typename
Scalar>
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struct
CostDataFramePlacementTpl
;
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template
<
typename
Scalar>
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class
CostModelImpulseCoMTpl
;
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template
<
typename
Scalar>
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struct
CostDataImpulseCoMTpl
;
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template
<
typename
Scalar>
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class
CostModelStateTpl
;
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template
<
typename
Scalar>
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struct
CostDataStateTpl
;
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template
<
typename
Scalar>
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class
CostModelControlGravTpl
;
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template
<
typename
Scalar>
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struct
CostDataControlGravTpl
;
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template
<
typename
Scalar>
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class
CostModelControlGravContactTpl
;
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template
<
typename
Scalar>
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struct
CostDataControlGravContactTpl
;
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template
<
typename
Scalar>
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class
CostModelFrameVelocityTpl
;
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template
<
typename
Scalar>
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struct
CostDataFrameVelocityTpl
;
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template
<
typename
Scalar>
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class
CostModelContactFrictionConeTpl
;
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template
<
typename
Scalar>
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struct
CostDataContactFrictionConeTpl
;
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template
<
typename
Scalar>
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class
CostModelContactWrenchConeTpl
;
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template
<
typename
Scalar>
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struct
CostDataContactWrenchConeTpl
;
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template
<
typename
Scalar>
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class
CostModelContactForceTpl
;
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template
<
typename
Scalar>
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struct
CostDataContactForceTpl
;
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template
<
typename
Scalar>
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class
CostModelContactImpulseTpl
;
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template
<
typename
Scalar>
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struct
CostDataContactImpulseTpl
;
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template
<
typename
Scalar>
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class
CostModelFrameRotationTpl
;
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template
<
typename
Scalar>
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struct
CostDataFrameRotationTpl
;
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template
<
typename
Scalar>
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class
CostModelImpulseFrictionConeTpl
;
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template
<
typename
Scalar>
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struct
CostDataImpulseFrictionConeTpl
;
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template
<
typename
Scalar>
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class
CostModelImpulseWrenchConeTpl
;
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template
<
typename
Scalar>
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struct
CostDataImpulseWrenchConeTpl
;
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template
<
typename
Scalar>
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class
CostModelContactCoPPositionTpl
;
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template
<
typename
Scalar>
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struct
CostDataContactCoPPositionTpl
;
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template
<
typename
Scalar>
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class
CostModelImpulseCoPPositionTpl
;
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template
<
typename
Scalar>
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struct
CostDataImpulseCoPPositionTpl
;
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// impulse
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template
<
typename
Scalar>
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class
ImpulseModelAbstractTpl
;
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template
<
typename
Scalar>
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struct
ImpulseDataAbstractTpl
;
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// contact
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template
<
typename
Scalar>
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struct
ContactItemTpl
;
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template
<
typename
Scalar>
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class
ContactModelMultipleTpl
;
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template
<
typename
Scalar>
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struct
ContactDataMultipleTpl
;
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template
<
typename
Scalar>
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class
ContactModel2DTpl
;
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template
<
typename
Scalar>
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struct
ContactData2DTpl
;
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template
<
typename
Scalar>
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class
ContactModel3DTpl
;
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template
<
typename
Scalar>
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struct
ContactData3DTpl
;
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template
<
typename
Scalar>
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class
ContactModel6DTpl
;
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template
<
typename
Scalar>
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struct
ContactData6DTpl
;
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// friction
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template
<
typename
Scalar>
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class
FrictionConeTpl
;
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template
<
typename
Scalar>
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class
WrenchConeTpl
;
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// cop support
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template
<
typename
Scalar>
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class
CoPSupportTpl
;
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// state
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template
<
typename
Scalar>
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class
StateMultibodyTpl
;
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// data collector
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template
<
typename
Scalar>
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struct
DataCollectorMultibodyTpl
;
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template
<
typename
Scalar>
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struct
DataCollectorActMultibodyTpl
;
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template
<
typename
Scalar>
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struct
DataCollectorContactTpl
;
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template
<
typename
Scalar>
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struct
DataCollectorMultibodyInContactTpl
;
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template
<
typename
Scalar>
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struct
DataCollectorActMultibodyInContactTpl
;
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template
<
typename
Scalar>
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struct
DataCollectorImpulseTpl
;
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template
<
typename
Scalar>
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struct
DataCollectorMultibodyInImpulseTpl
;
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// impulse
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template
<
typename
Scalar>
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class
ImpulseModel6DTpl
;
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template
<
typename
Scalar>
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struct
ImpulseData6DTpl
;
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template
<
typename
Scalar>
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class
ImpulseModel3DTpl
;
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template
<
typename
Scalar>
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struct
ImpulseData3DTpl
;
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template
<
typename
Scalar>
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struct
ImpulseItemTpl
;
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template
<
typename
Scalar>
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class
ImpulseModelMultipleTpl
;
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template
<
typename
Scalar>
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struct
ImpulseDataMultipleTpl
;
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/*******************************Template Instantiation**************************/
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typedef
ActuationModelFloatingBaseTpl<double>
ActuationModelFloatingBase
;
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typedef
ActuationModelFullTpl<double>
ActuationModelFull
;
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typedef
ActuationModelMultiCopterBaseTpl<double>
ActuationModelMultiCopterBase
;
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typedef
ContactModelAbstractTpl<double>
ContactModelAbstract
;
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typedef
ContactDataAbstractTpl<double>
ContactDataAbstract
;
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typedef
ActionModelImpulseFwdDynamicsTpl<double>
ActionModelImpulseFwdDynamics
;
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typedef
ActionDataImpulseFwdDynamicsTpl<double>
ActionDataImpulseFwdDynamics
;
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typedef
DifferentialActionModelFreeFwdDynamicsTpl<double>
DifferentialActionModelFreeFwdDynamics
;
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typedef
DifferentialActionDataFreeFwdDynamicsTpl<double>
DifferentialActionDataFreeFwdDynamics
;
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typedef
DifferentialActionModelContactFwdDynamicsTpl<double>
DifferentialActionModelContactFwdDynamics
;
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typedef
DifferentialActionDataContactFwdDynamicsTpl<double>
DifferentialActionDataContactFwdDynamics
;
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typedef
CostModelNumDiffTpl<double>
CostModelNumDiff
;
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typedef
CostDataNumDiffTpl<double>
CostDataNumDiff
;
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typedef
ContactModelNumDiffTpl<double>
ContactModelNumDiff
;
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typedef
ContactDataNumDiffTpl<double>
ContactDataNumDiff
;
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typedef
FrictionConeTpl<double>
FrictionCone
;
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typedef
WrenchConeTpl<double>
WrenchCone
;
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typedef
CoPSupportTpl<double>
CoPSupport
;
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typedef
FrameTranslationTpl<double>
FrameTranslation
;
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typedef
FrameRotationTpl<double>
FrameRotation
;
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typedef
FramePlacementTpl<double>
FramePlacement
;
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typedef
FrameMotionTpl<double>
FrameMotion
;
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typedef
FrameForceTpl<double>
FrameForce
;
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typedef
FrameFrictionConeTpl<double>
FrameFrictionCone
;
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typedef
FrameWrenchConeTpl<double>
FrameWrenchCone
;
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typedef
FrameCoPSupportTpl<double>
FrameCoPSupport
;
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typedef
CostModelFrameTranslationTpl<double>
CostModelFrameTranslation
;
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typedef
CostDataFrameTranslationTpl<double>
CostDataFrameTranslation
;
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typedef
CostModelCentroidalMomentumTpl<double>
CostModelCentroidalMomentum
;
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typedef
CostDataCentroidalMomentumTpl<double>
CostDataCentroidalMomentum
;
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typedef
CostModelCoMPositionTpl<double>
CostModelCoMPosition
;
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typedef
CostDataCoMPositionTpl<double>
CostDataCoMPosition
;
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typedef
CostModelFramePlacementTpl<double>
CostModelFramePlacement
;
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typedef
CostDataFramePlacementTpl<double>
CostDataFramePlacement
;
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typedef
CostModelImpulseCoMTpl<double>
CostModelImpulseCoM
;
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typedef
CostDataImpulseCoMTpl<double>
CostDataImpulseCoM
;
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typedef
CostModelStateTpl<double>
CostModelState
;
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typedef
CostDataStateTpl<double>
CostDataState
;
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typedef
CostModelControlGravTpl<double>
CostModelControlGrav
;
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typedef
CostDataControlGravTpl<double>
CostDataControlGrav
;
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typedef
CostModelControlGravContactTpl<double>
CostModelControlGravContact
;
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typedef
CostDataControlGravContactTpl<double>
CostDataControlGravContact
;
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typedef
CostModelFrameVelocityTpl<double>
CostModelFrameVelocity
;
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typedef
CostDataFrameVelocityTpl<double>
CostDataFrameVelocity
;
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typedef
CostModelContactCoPPositionTpl<double>
CostModelContactCoPPosition
;
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typedef
CostDataContactCoPPositionTpl<double>
CostDataContactCoPPosition
;
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typedef
CostModelContactFrictionConeTpl<double>
CostModelContactFrictionCone
;
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typedef
CostDataContactFrictionConeTpl<double>
CostDataContactFrictionCone
;
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typedef
CostModelContactWrenchConeTpl<double>
CostModelContactWrenchCone
;
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typedef
CostDataContactWrenchConeTpl<double>
CostDataContactWrenchCone
;
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typedef
CostModelContactForceTpl<double>
CostModelContactForce
;
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typedef
CostDataContactForceTpl<double>
CostDataContactForce
;
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typedef
CostModelContactImpulseTpl<double>
CostModelContactImpulse
;
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typedef
CostDataContactImpulseTpl<double>
CostDataContactImpulse
;
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typedef
CostModelFrameRotationTpl<double>
CostModelFrameRotation
;
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typedef
CostModelImpulseFrictionConeTpl<double>
CostModelImpulseFrictionCone
;
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typedef
CostDataImpulseFrictionConeTpl<double>
CostDataImpulseFrictionCone
;
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typedef
CostModelImpulseCoPPositionTpl<double>
CostModelImpulseCoPPosition
;
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typedef
CostDataImpulseCoPPositionTpl<double>
CostDataImpulseCoPPosition
;
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typedef
CostModelImpulseWrenchConeTpl<double>
CostModelImpulseWrenchCone
;
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typedef
CostDataImpulseWrenchConeTpl<double>
CostDataImpulseWrenchCone
;
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typedef
CostDataFrameRotationTpl<double>
CostDataFrameRotation
;
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typedef
ImpulseModelAbstractTpl<double>
ImpulseModelAbstract
;
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typedef
ImpulseDataAbstractTpl<double>
ImpulseDataAbstract
;
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enum
ContactType { Contact2D, Contact3D, Contact6D, ContactUndefined };
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enum
ImpulseType { Impulse3D, Impulse6D, ImpulseUndefined };
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typedef
ContactItemTpl<double>
ContactItem
;
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typedef
ContactModelMultipleTpl<double>
ContactModelMultiple
;
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typedef
ContactDataMultipleTpl<double>
ContactDataMultiple
;
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typedef
ContactModel2DTpl<double>
ContactModel2D
;
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typedef
ContactData2DTpl<double>
ContactData2D
;
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typedef
ContactModel3DTpl<double>
ContactModel3D
;
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typedef
ContactData3DTpl<double>
ContactData3D
;
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typedef
ContactModel6DTpl<double>
ContactModel6D
;
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typedef
ContactData6DTpl<double>
ContactData6D
;
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typedef
StateMultibodyTpl<double>
StateMultibody
;
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typedef
DataCollectorMultibodyTpl<double>
DataCollectorMultibody
;
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typedef
DataCollectorActMultibodyTpl<double>
DataCollectorActMultibody
;
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typedef
DataCollectorContactTpl<double>
DataCollectorContact
;
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typedef
DataCollectorMultibodyInContactTpl<double>
DataCollectorMultibodyInContact
;
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typedef
DataCollectorActMultibodyInContactTpl<double>
DataCollectorActMultibodyInContact
;
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typedef
DataCollectorImpulseTpl<double>
DataCollectorImpulse
;
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typedef
DataCollectorMultibodyInImpulseTpl<double>
DataCollectorMultibodyInImpulse
;
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typedef
ImpulseModel6DTpl<double>
ImpulseModel6D
;
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typedef
ImpulseData6DTpl<double>
ImpulseData6D
;
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typedef
ImpulseModel3DTpl<double>
ImpulseModel3D
;
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typedef
ImpulseData3DTpl<double>
ImpulseData3D
;
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typedef
ImpulseItemTpl<double>
ImpulseItem
;
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typedef
ImpulseModelMultipleTpl<double>
ImpulseModelMultiple
;
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typedef
ImpulseDataMultipleTpl<double>
ImpulseDataMultiple
;
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}
// namespace crocoddyl
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#endif // CROCODDYL_MULTIBODY_FWD_HPP_
crocoddyl::CostDataImpulseCoMTpl
Definition:
impulse-com.hpp:110
crocoddyl::ContactModel6DTpl
Definition:
contact-6d.hpp:22
crocoddyl::CostModelFrameVelocityTpl
Frame velocity cost.
Definition:
frame-velocity.hpp:40
crocoddyl::CostModelCentroidalMomentumTpl
Centroidal momentum cost.
Definition:
centroidal-momentum.hpp:38
crocoddyl::CostDataContactCoPPositionTpl
Definition:
contact-cop-position.hpp:187
crocoddyl::CostModelFrameTranslationTpl
Frame translation cost.
Definition:
frame-translation.hpp:40
crocoddyl::ContactItemTpl
Definition:
multiple-contacts.hpp:23
crocoddyl::FrameTranslationTpl
Definition:
frames.hpp:28
crocoddyl::ContactModelMultipleTpl
Define a stack of contact models.
Definition:
multiple-contacts.hpp:46
crocoddyl::ActionModelImpulseFwdDynamicsTpl
Definition:
impulse-fwddyn.hpp:34
crocoddyl::CostDataContactFrictionConeTpl
Definition:
contact-friction-cone.hpp:161
crocoddyl::CostModelFrameRotationTpl
Frame rotation cost.
Definition:
frame-rotation.hpp:39
crocoddyl::FrictionConeTpl
This class encapsulates a friction cone.
Definition:
friction-cone.hpp:27
crocoddyl::DataCollectorMultibodyInContactTpl
Definition:
contacts.hpp:32
crocoddyl::WrenchConeTpl
This class encapsulates a wrench cone.
Definition:
fwd.hpp:207
crocoddyl::ImpulseModel3DTpl
Definition:
fwd.hpp:246
crocoddyl::ImpulseData3DTpl
Definition:
fwd.hpp:248
crocoddyl::CostDataFrameRotationTpl
Definition:
frame-rotation.hpp:157
crocoddyl::CostModelImpulseFrictionConeTpl
Impulse friction cone cost.
Definition:
impulse-friction-cone.hpp:49
crocoddyl::CostDataControlGravContactTpl
Definition:
control-gravity-contact.hpp:135
crocoddyl::CostDataImpulseFrictionConeTpl
Definition:
impulse-friction-cone.hpp:135
crocoddyl::FrameCoPSupportTpl
Definition:
frames.hpp:261
crocoddyl::CostDataFrameVelocityTpl
Definition:
frame-velocity.hpp:152
crocoddyl::CostModelContactImpulseTpl
Define a contact impulse cost function.
Definition:
contact-impulse.hpp:44
crocoddyl::DataCollectorContactTpl
Definition:
contacts.hpp:21
crocoddyl::DifferentialActionDataFreeFwdDynamicsTpl
Definition:
free-fwddyn.hpp:84
crocoddyl::CostDataImpulseCoPPositionTpl
Definition:
impulse-cop-position.hpp:157
crocoddyl::CoPSupportTpl
This class encapsulates a center of pressure support of a 6d contact.
Definition:
cop-support.hpp:25
crocoddyl::CostDataContactForceTpl
Definition:
contact-force.hpp:184
crocoddyl::FrameWrenchConeTpl
Definition:
frames.hpp:234
crocoddyl::CostModelContactForceTpl
Define a contact force cost function.
Definition:
contact-force.hpp:44
crocoddyl
Definition:
action-base.hpp:21
crocoddyl::CostModelContactFrictionConeTpl
Contact friction cone cost.
Definition:
contact-friction-cone.hpp:49
crocoddyl::ImpulseDataMultipleTpl
Define the multi-impulse data.
Definition:
fwd.hpp:255
crocoddyl::DifferentialActionModelContactFwdDynamicsTpl
Definition:
contact-fwddyn.hpp:25
crocoddyl::CostModelFramePlacementTpl
Frame placement cost.
Definition:
frame-placement.hpp:39
crocoddyl::FrameRotationTpl
Definition:
frames.hpp:62
crocoddyl::FramePlacementTpl
Definition:
frames.hpp:94
crocoddyl::CostModelControlGravTpl
Control gravity cost.
Definition:
control-gravity.hpp:36
crocoddyl::ActuationModelFullTpl
Full actuation model.
Definition:
full.hpp:28
crocoddyl::StateMultibodyTpl
State multibody representation.
Definition:
fwd.hpp:215
crocoddyl::CostModelImpulseCoMTpl
Impulse CoM cost.
Definition:
impulse-com.hpp:40
crocoddyl::ImpulseModelAbstractTpl
Definition:
fwd.hpp:176
crocoddyl::ActuationModelMultiCopterBaseTpl
Multicopter actuation model.
Definition:
multicopter-base.hpp:39
crocoddyl::DifferentialActionModelFreeFwdDynamicsTpl
Definition:
free-fwddyn.hpp:29
crocoddyl::ContactModelAbstractTpl
Definition:
contact-base.hpp:23
crocoddyl::ContactModel2DTpl
Definition:
contact-2d.hpp:25
crocoddyl::ContactData3DTpl
Definition:
contact-3d.hpp:66
crocoddyl::DataCollectorActMultibodyInContactTpl
Definition:
contacts.hpp:42
crocoddyl::DataCollectorImpulseTpl
Definition:
impulses.hpp:21
crocoddyl::CostDataContactWrenchConeTpl
Definition:
contact-wrench-cone.hpp:73
crocoddyl::CostModelImpulseWrenchConeTpl
Definition:
impulse-wrench-cone.hpp:26
crocoddyl::FrameFrictionConeTpl
Definition:
frames.hpp:207
crocoddyl::FrameForceTpl
Definition:
frames.hpp:175
crocoddyl::CostModelNumDiffTpl
Definition:
cost.hpp:20
crocoddyl::ContactDataMultipleTpl
Define the multi-contact data.
Definition:
multiple-contacts.hpp:228
crocoddyl::ImpulseModelMultipleTpl
Define a stack of impulse models.
Definition:
fwd.hpp:253
crocoddyl::CostModelCoMPositionTpl
CoM position cost.
Definition:
com-position.hpp:38
crocoddyl::ContactModelNumDiffTpl
Definition:
fwd.hpp:54
crocoddyl::DataCollectorMultibodyInImpulseTpl
Definition:
impulses.hpp:32
crocoddyl::DifferentialActionDataContactFwdDynamicsTpl
Definition:
contact-fwddyn.hpp:96
crocoddyl::ImpulseDataAbstractTpl
Definition:
fwd.hpp:178
crocoddyl::CostDataContactImpulseTpl
Definition:
contact-impulse.hpp:152
crocoddyl::ContactDataAbstractTpl
Definition:
contact-base.hpp:60
crocoddyl::FrameMotionTpl
Definition:
frames.hpp:127
crocoddyl::CostDataControlGravTpl
Definition:
control-gravity.hpp:131
crocoddyl::CostDataCoMPositionTpl
Definition:
com-position.hpp:145
crocoddyl::CostModelControlGravContactTpl
Control gravity cost.
Definition:
control-gravity-contact.hpp:41
crocoddyl::ImpulseModel6DTpl
Definition:
fwd.hpp:241
crocoddyl::CostDataCentroidalMomentumTpl
Definition:
centroidal-momentum.hpp:151
crocoddyl::CostDataFramePlacementTpl
Definition:
frame-placement.hpp:154
crocoddyl::ActuationModelFloatingBaseTpl
Definition:
floating-base.hpp:19
crocoddyl::CostDataFrameTranslationTpl
Definition:
frame-translation.hpp:153
crocoddyl::ActionDataImpulseFwdDynamicsTpl
Definition:
impulse-fwddyn.hpp:101
crocoddyl::CostModelContactWrenchConeTpl
Definition:
contact-wrench-cone.hpp:26
crocoddyl::CostDataImpulseWrenchConeTpl
Definition:
impulse-wrench-cone.hpp:66
crocoddyl::ImpulseItemTpl
Definition:
fwd.hpp:251
crocoddyl::DataCollectorMultibodyTpl
Definition:
multibody.hpp:21
crocoddyl::ContactData2DTpl
Definition:
contact-2d.hpp:66
crocoddyl::ImpulseData6DTpl
Definition:
fwd.hpp:243
crocoddyl::CostModelContactCoPPositionTpl
Define a center of pressure cost function.
Definition:
contact-cop-position.hpp:57
crocoddyl::DataCollectorActMultibodyTpl
Definition:
multibody.hpp:31
crocoddyl::ContactData6DTpl
Definition:
contact-6d.hpp:63
crocoddyl::CostDataStateTpl
Definition:
state.hpp:195
crocoddyl::ContactDataNumDiffTpl
Definition:
fwd.hpp:56
crocoddyl::CostDataNumDiffTpl
Definition:
cost.hpp:128
crocoddyl::CostModelStateTpl
State cost.
Definition:
state.hpp:39
crocoddyl::ContactModel3DTpl
Definition:
contact-3d.hpp:25
crocoddyl::CostModelImpulseCoPPositionTpl
Define a center of pressure cost function.
Definition:
impulse-cop-position.hpp:58
include
crocoddyl
multibody
fwd.hpp
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