crocoddyl  1.7.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
fwd.hpp
1 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2020, LAAS-CNRS, University of Edinburgh
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
8 
9 #ifndef CROCODDYL_MULTIBODY_FWD_HPP_
10 #define CROCODDYL_MULTIBODY_FWD_HPP_
11 
12 namespace crocoddyl {
13 
14 // actuation
15 template <typename Scalar>
16 class ActuationModelFloatingBaseTpl;
17 
18 template <typename Scalar>
19 class ActuationModelFullTpl;
20 
21 template <typename Scalar>
22 class ActuationModelMultiCopterBaseTpl;
23 
24 // contact
25 template <typename Scalar>
26 class ContactModelAbstractTpl;
27 template <typename Scalar>
28 struct ContactDataAbstractTpl;
29 
30 // action
31 template <typename Scalar>
32 class ActionModelImpulseFwdDynamicsTpl;
33 template <typename Scalar>
34 struct ActionDataImpulseFwdDynamicsTpl;
35 
36 // differential action
37 template <typename Scalar>
38 class DifferentialActionModelFreeFwdDynamicsTpl;
39 template <typename Scalar>
40 struct DifferentialActionDataFreeFwdDynamicsTpl;
41 
42 template <typename Scalar>
43 class DifferentialActionModelContactFwdDynamicsTpl;
44 template <typename Scalar>
45 struct DifferentialActionDataContactFwdDynamicsTpl;
46 
47 // numdiff
48 template <typename Scalar>
49 class CostModelNumDiffTpl;
50 template <typename Scalar>
51 struct CostDataNumDiffTpl;
52 
53 template <typename Scalar>
55 template <typename Scalar>
57 
58 // frame
59 template <typename Scalar>
60 struct FrameTranslationTpl;
61 
62 template <typename Scalar>
63 struct FrameRotationTpl;
64 
65 template <typename Scalar>
66 struct FramePlacementTpl;
67 
68 template <typename Scalar>
69 struct FrameMotionTpl;
70 
71 template <typename Scalar>
72 struct FrameForceTpl;
73 
74 template <typename Scalar>
76 
77 template <typename Scalar>
78 struct FrameWrenchConeTpl;
79 
80 template <typename Scalar>
81 struct FrameCoPSupportTpl;
82 
83 // cost
84 template <typename Scalar>
86 template <typename Scalar>
88 
89 template <typename Scalar>
91 template <typename Scalar>
93 
94 template <typename Scalar>
96 template <typename Scalar>
98 
99 template <typename Scalar>
101 template <typename Scalar>
103 
104 template <typename Scalar>
106 template <typename Scalar>
107 struct CostDataImpulseCoMTpl;
108 
109 template <typename Scalar>
110 class CostModelStateTpl;
111 template <typename Scalar>
112 struct CostDataStateTpl;
113 
114 template <typename Scalar>
116 template <typename Scalar>
118 
119 template <typename Scalar>
121 template <typename Scalar>
123 
124 template <typename Scalar>
126 template <typename Scalar>
128 
129 template <typename Scalar>
131 template <typename Scalar>
133 
134 template <typename Scalar>
136 template <typename Scalar>
138 
139 template <typename Scalar>
141 template <typename Scalar>
143 
144 template <typename Scalar>
146 template <typename Scalar>
148 
149 template <typename Scalar>
151 template <typename Scalar>
153 
154 template <typename Scalar>
156 template <typename Scalar>
158 
159 template <typename Scalar>
161 template <typename Scalar>
163 
164 template <typename Scalar>
166 template <typename Scalar>
168 
169 template <typename Scalar>
171 template <typename Scalar>
173 
174 // impulse
175 template <typename Scalar>
177 template <typename Scalar>
179 
180 // contact
181 template <typename Scalar>
182 struct ContactItemTpl;
183 template <typename Scalar>
185 template <typename Scalar>
187 
188 template <typename Scalar>
189 class ContactModel2DTpl;
190 template <typename Scalar>
191 struct ContactData2DTpl;
192 
193 template <typename Scalar>
194 class ContactModel3DTpl;
195 template <typename Scalar>
196 struct ContactData3DTpl;
197 
198 template <typename Scalar>
199 class ContactModel6DTpl;
200 template <typename Scalar>
201 struct ContactData6DTpl;
202 
203 // friction
204 template <typename Scalar>
205 class FrictionConeTpl;
206 template <typename Scalar>
208 
209 // cop support
210 template <typename Scalar>
211 class CoPSupportTpl;
212 
213 // state
214 template <typename Scalar>
216 
217 // data collector
218 template <typename Scalar>
220 
221 template <typename Scalar>
223 
224 template <typename Scalar>
226 
227 template <typename Scalar>
229 
230 template <typename Scalar>
232 
233 template <typename Scalar>
235 
236 template <typename Scalar>
238 
239 // impulse
240 template <typename Scalar>
242 template <typename Scalar>
244 
245 template <typename Scalar>
247 template <typename Scalar>
249 
250 template <typename Scalar>
252 template <typename Scalar>
254 template <typename Scalar>
256 
257 /*******************************Template Instantiation**************************/
258 
262 
265 
268 
273 
278 
282 
291 
328 
331 
332 enum ContactType { Contact2D, Contact3D, Contact6D, ContactUndefined };
333 enum ImpulseType { Impulse3D, Impulse6D, ImpulseUndefined };
334 
344 
346 
354 
362 
363 } // namespace crocoddyl
364 
365 #endif // CROCODDYL_MULTIBODY_FWD_HPP_
Define a stack of contact models.
This class encapsulates a friction cone.
This class encapsulates a wrench cone.
Definition: fwd.hpp:207
Define a contact impulse cost function.
This class encapsulates a center of pressure support of a 6d contact.
Definition: cop-support.hpp:25
Define a contact force cost function.
Define the multi-impulse data.
Definition: fwd.hpp:255
Full actuation model.
Definition: full.hpp:28
State multibody representation.
Definition: fwd.hpp:215
Define the multi-contact data.
Define a stack of impulse models.
Definition: fwd.hpp:253
Define a center of pressure cost function.
Define a center of pressure cost function.