crocoddyl  1.3.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
fwd.hpp
1 // BSD 3-Clause License
3 //
4 // Copyright (C) 2018-2020, 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>
50 template <typename Scalar>
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 // cost
78 template <typename Scalar>
80 template <typename Scalar>
81 struct CostDataAbstractTpl;
82 
83 template <typename Scalar>
85 template <typename Scalar>
87 
88 template <typename Scalar>
89 struct CostItemTpl;
90 template <typename Scalar>
91 class CostModelSumTpl;
92 template <typename Scalar>
93 struct CostDataSumTpl;
94 
95 template <typename Scalar>
97 template <typename Scalar>
99 
100 template <typename Scalar>
102 template <typename Scalar>
104 
105 template <typename Scalar>
107 template <typename Scalar>
109 
110 template <typename Scalar>
112 template <typename Scalar>
113 struct CostDataImpulseCoMTpl;
114 
115 template <typename Scalar>
116 class CostModelStateTpl;
117 template <typename Scalar>
118 struct CostDataStateTpl;
119 
120 template <typename Scalar>
122 template <typename Scalar>
124 
125 template <typename Scalar>
127 template <typename Scalar>
129 
130 template <typename Scalar>
132 template <typename Scalar>
134 
135 template <typename Scalar>
136 class CostModelControlTpl;
137 
138 template <typename Scalar>
140 template <typename Scalar>
142 
143 template <typename Scalar>
145 template <typename Scalar>
147 
148 // impulse
149 template <typename Scalar>
151 template <typename Scalar>
153 
154 // contact
155 template <typename Scalar>
156 struct ContactItemTpl;
157 template <typename Scalar>
159 template <typename Scalar>
161 
162 template <typename Scalar>
163 class ContactModel3DTpl;
164 template <typename Scalar>
165 struct ContactData3DTpl;
166 
167 template <typename Scalar>
168 class ContactModel6DTpl;
169 template <typename Scalar>
170 struct ContactData6DTpl;
171 
172 // friction
173 template <typename Scalar>
174 class FrictionConeTpl;
175 
176 // state
177 template <typename Scalar>
179 
180 // data collector
181 template <typename Scalar>
183 
184 template <typename Scalar>
186 
187 template <typename Scalar>
189 
190 template <typename Scalar>
192 
193 template <typename Scalar>
195 
196 template <typename Scalar>
198 
199 template <typename Scalar>
201 
202 // impulse
203 template <typename Scalar>
205 template <typename Scalar>
207 
208 template <typename Scalar>
210 template <typename Scalar>
212 
213 template <typename Scalar>
215 template <typename Scalar>
217 template <typename Scalar>
219 
220 /*******************************Template Instantiation**************************/
221 
225 
228 
231 
236 
241 
243 
250 
278 
280 
283 
291 
293 
301 
309 
310 } // namespace crocoddyl
311 
312 #endif // CROCODDYL_MULTIBODY_FWD_HPP_