crocoddyl  1.6.0
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 // impulse
165 template <typename Scalar>
167 template <typename Scalar>
169 
170 // contact
171 template <typename Scalar>
172 struct ContactItemTpl;
173 template <typename Scalar>
175 template <typename Scalar>
177 
178 template <typename Scalar>
179 class ContactModel2DTpl;
180 template <typename Scalar>
181 struct ContactData2DTpl;
182 
183 template <typename Scalar>
184 class ContactModel3DTpl;
185 template <typename Scalar>
186 struct ContactData3DTpl;
187 
188 template <typename Scalar>
189 class ContactModel6DTpl;
190 template <typename Scalar>
191 struct ContactData6DTpl;
192 
193 // friction
194 template <typename Scalar>
195 class FrictionConeTpl;
196 template <typename Scalar>
198 
199 // state
200 template <typename Scalar>
202 
203 // data collector
204 template <typename Scalar>
206 
207 template <typename Scalar>
209 
210 template <typename Scalar>
212 
213 template <typename Scalar>
215 
216 template <typename Scalar>
218 
219 template <typename Scalar>
221 
222 template <typename Scalar>
224 
225 // impulse
226 template <typename Scalar>
228 template <typename Scalar>
230 
231 template <typename Scalar>
233 template <typename Scalar>
235 
236 template <typename Scalar>
238 template <typename Scalar>
240 template <typename Scalar>
242 
243 /*******************************Template Instantiation**************************/
244 
248 
251 
254 
259 
264 
267 
276 
308 
310 
313 
314 enum ContactType { Contact2D, Contact3D, Contact6D, ContactUndefined };
315 enum ImpulseType { Impulse3D, Impulse6D, ImpulseUndefined };
316 
326 
328 
336 
344 
345 } // namespace crocoddyl
346 
347 #endif // CROCODDYL_MULTIBODY_FWD_HPP_
Define a stack of contact models.
This class encapsulates a wrench cone.
Definition: fwd.hpp:197
Define a contact impulse cost function.
Define a contact force cost function.
Define the multi-impulse data.
Definition: fwd.hpp:241
Define the multi-contact data.
Define a stack of impulse models.
Definition: fwd.hpp:239
Define a center of pressure cost function.
Define a center of pressure cost function.