9 #ifndef CROCODDYL_MULTIBODY_FWD_HPP_ 10 #define CROCODDYL_MULTIBODY_FWD_HPP_ 12 #include "crocoddyl/core/utils/deprecate.hpp" 13 #include "crocoddyl/core/costs/residual.hpp" 18 template <
typename Scalar>
19 class ActuationModelFloatingBaseTpl;
21 template <
typename Scalar>
22 class ActuationModelFullTpl;
24 template <
typename Scalar>
25 class ActuationModelMultiCopterBaseTpl;
28 template <
typename Scala>
29 struct ForceDataAbstractTpl;
32 template <
typename Scalar>
33 class ContactModelAbstractTpl;
34 template <
typename Scalar>
35 struct ContactDataAbstractTpl;
38 template <
typename Scalar>
39 class ActionModelImpulseFwdDynamicsTpl;
40 template <
typename Scalar>
41 struct ActionDataImpulseFwdDynamicsTpl;
44 template <
typename Scalar>
45 class DifferentialActionModelFreeFwdDynamicsTpl;
46 template <
typename Scalar>
47 struct DifferentialActionDataFreeFwdDynamicsTpl;
49 template <
typename Scalar>
50 class DifferentialActionModelContactFwdDynamicsTpl;
51 template <
typename Scalar>
52 struct DifferentialActionDataContactFwdDynamicsTpl;
55 template <
typename Scalar>
56 class CostModelNumDiffTpl;
57 template <
typename Scalar>
58 struct CostDataNumDiffTpl;
60 template <
typename Scalar>
62 template <
typename Scalar>
66 template <
typename Scalar>
69 template <
typename Scalar>
72 template <
typename Scalar>
75 template <
typename Scalar>
78 template <
typename Scalar>
81 template <
typename Scalar>
84 template <
typename Scalar>
87 template <
typename Scalar>
91 template <
typename Scalar>
93 template <
typename Scalar>
96 template <
typename Scalar>
98 template <
typename Scalar>
101 template <
typename Scalar>
103 template <
typename Scalar>
106 template <
typename Scalar>
108 template <
typename Scalar>
111 template <
typename Scalar>
113 template <
typename Scalar>
116 template <
typename Scalar>
118 template <
typename Scalar>
121 template <
typename Scalar>
123 template <
typename Scalar>
126 template <
typename Scalar>
128 template <
typename Scalar>
131 template <
typename Scalar>
133 template <
typename Scalar>
136 template <
typename Scalar>
138 template <
typename Scalar>
141 template <
typename Scalar>
143 template <
typename Scalar>
146 template <
typename Scalar>
148 template <
typename Scalar>
151 template <
typename Scalar>
153 template <
typename Scalar>
156 template <
typename Scalar>
158 template <
typename Scalar>
161 #ifdef PINOCCHIO_WITH_HPP_FCL 162 template <
typename Scalar>
163 class ResidualModelPairCollisionTpl;
164 template <
typename Scalar>
165 struct ResidualDataPairCollisionTpl;
168 template <
typename Scalar>
171 template <
typename Scalar>
174 template <
typename Scalar>
176 template <
typename Scalar>
179 template <
typename Scalar>
181 template <
typename Scalar>
184 template <
typename Scalar>
186 template <
typename Scalar>
189 template <
typename Scalar>
191 template <
typename Scalar>
194 template <
typename Scalar>
196 template <
typename Scalar>
199 template <
typename Scalar>
201 template <
typename Scalar>
204 template <
typename Scalar>
206 template <
typename Scalar>
209 template <
typename Scalar>
211 template <
typename Scalar>
214 template <
typename Scalar>
216 template <
typename Scalar>
219 template <
typename Scalar>
221 template <
typename Scalar>
224 template <
typename Scalar>
226 template <
typename Scalar>
229 template <
typename Scalar>
231 template <
typename Scalar>
234 template <
typename Scalar>
236 template <
typename Scalar>
239 template <
typename Scalar>
241 template <
typename Scalar>
244 template <
typename Scalar>
246 template <
typename Scalar>
249 template <
typename Scalar>
251 template <
typename Scalar>
254 template <
typename Scalar>
256 template <
typename Scalar>
260 template <
typename Scalar>
262 template <
typename Scalar>
266 template <
typename Scalar>
268 template <
typename Scalar>
270 template <
typename Scalar>
273 template <
typename Scalar>
275 template <
typename Scalar>
278 template <
typename Scalar>
280 template <
typename Scalar>
283 template <
typename Scalar>
285 template <
typename Scalar>
289 template <
typename Scalar>
291 template <
typename Scalar>
295 template <
typename Scalar>
299 template <
typename Scalar>
303 template <
typename Scalar>
306 template <
typename Scalar>
309 template <
typename Scalar>
312 template <
typename Scalar>
315 template <
typename Scalar>
318 template <
typename Scalar>
321 template <
typename Scalar>
325 template <
typename Scalar>
327 template <
typename Scalar>
330 template <
typename Scalar>
332 template <
typename Scalar>
335 template <
typename Scalar>
337 template <
typename Scalar>
339 template <
typename Scalar>
408 #ifdef PINOCCHIO_WITH_HPP_FCL 409 typedef ResidualModelPairCollisionTpl<double> ResidualModelPairCollision;
410 typedef ResidualDataPairCollisionTpl<double> ResidualDataPairCollision;
413 DEPRECATED(
"Use ResidualModelFrameTranslation with CostModelResidual",
416 DEPRECATED(
"Use ResidualModelCentroidalMomentum with CostModelResidual",
419 DEPRECATED(
"Use ResidualModelCoMPosition with CostModelResidual",
422 DEPRECATED(
"Use ResidualModelFramePlacement with CostModelResidual",
425 DEPRECATED(
"Use ResidualModelImpulseCoM with CostModelResidual",
430 DEPRECATED(
"Use ResidualModelControlGrav with CostModelResidual",
433 DEPRECATED(
"Use ResidualModelContactControlGrav with CostModelResidual",
436 DEPRECATED(
"Use ResidualModelFrameVelocity with CostModelResidual",
439 DEPRECATED(
"Use ResidualModelFrameRotation with CostModelResidual",
442 DEPRECATED(
"Use ResidualModelCoPPosition with CostModelResidual",
445 DEPRECATED(
"Use ResidualModelContactFrictionCone with CostModelResidual",
448 DEPRECATED(
"Use ResidualModelContactWrenchCone with CostModelResidual",
451 DEPRECATED(
"Use ResidualModelContactForce with CostModelResidual",
454 DEPRECATED(
"Use ResidualModelContactForce with CostModelResidual",
457 DEPRECATED(
"Use ResidualModelFrictionCone with CostModelResidual",
460 DEPRECATED(
"Use ResidualModelContactCoPPosition with CostModelResidual",
463 DEPRECATED(
"Use ResidualModelContactWrenchCone with CostModelResidual",
470 enum ContactType { Contact2D, Contact3D, Contact6D, ContactUndefined };
471 enum ImpulseType { Impulse3D, Impulse6D, ImpulseUndefined };
503 #endif // CROCODDYL_MULTIBODY_FWD_HPP_ Centroidal momentum residual.
Centroidal momentum cost.
This class encapsulates a friction cone.
This class encapsulates a wrench cone.
Impulse friction cone cost.
This class encapsulates a center of pressure support of a 6d contact.
Define the multi-impulse data.
State multibody representation.
Multicopter actuation model.
Frame translation residual.
Define a stack of impulse models.
Frame placement residual.
Control gravity residual.
Define a center of pressure cost function.