crocoddyl  1.4.0
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 template <typename Scalar>
78 struct FrameCoPSupportTpl;
79 
80 // cost
81 template <typename Scalar>
83 template <typename Scalar>
84 struct CostDataAbstractTpl;
85 
86 template <typename Scalar>
88 template <typename Scalar>
90 
91 template <typename Scalar>
92 struct CostItemTpl;
93 template <typename Scalar>
94 class CostModelSumTpl;
95 template <typename Scalar>
96 struct CostDataSumTpl;
97 
98 template <typename Scalar>
100 template <typename Scalar>
102 
103 template <typename Scalar>
105 template <typename Scalar>
107 
108 template <typename Scalar>
110 template <typename Scalar>
112 
113 template <typename Scalar>
115 template <typename Scalar>
116 struct CostDataImpulseCoMTpl;
117 
118 template <typename Scalar>
119 class CostModelStateTpl;
120 template <typename Scalar>
121 struct CostDataStateTpl;
122 
123 template <typename Scalar>
125 template <typename Scalar>
127 
128 template <typename Scalar>
130 template <typename Scalar>
132 
133 template <typename Scalar>
135 template <typename Scalar>
137 
138 template <typename Scalar>
140 template <typename Scalar>
142 
143 template <typename Scalar>
144 class CostModelControlTpl;
145 
146 template <typename Scalar>
148 template <typename Scalar>
150 
151 template <typename Scalar>
153 template <typename Scalar>
155 
156 template <typename Scalar>
158 template <typename Scalar>
160 
161 // impulse
162 template <typename Scalar>
164 template <typename Scalar>
166 
167 // contact
168 template <typename Scalar>
169 struct ContactItemTpl;
170 template <typename Scalar>
172 template <typename Scalar>
174 
175 template <typename Scalar>
176 class ContactModel3DTpl;
177 template <typename Scalar>
178 struct ContactData3DTpl;
179 
180 template <typename Scalar>
181 class ContactModel6DTpl;
182 template <typename Scalar>
183 struct ContactData6DTpl;
184 
185 // friction
186 template <typename Scalar>
187 class FrictionConeTpl;
188 
189 // state
190 template <typename Scalar>
192 
193 // data collector
194 template <typename Scalar>
196 
197 template <typename Scalar>
199 
200 template <typename Scalar>
202 
203 template <typename Scalar>
205 
206 template <typename Scalar>
208 
209 template <typename Scalar>
211 
212 template <typename Scalar>
214 
215 // impulse
216 template <typename Scalar>
218 template <typename Scalar>
220 
221 template <typename Scalar>
223 template <typename Scalar>
225 
226 template <typename Scalar>
228 template <typename Scalar>
230 template <typename Scalar>
232 
233 /*******************************Template Instantiation**************************/
234 
238 
241 
244 
249 
254 
256 
264 
296 
298 
301 
309 
311 
319 
327 
328 } // namespace crocoddyl
329 
330 #endif // CROCODDYL_MULTIBODY_FWD_HPP_
crocoddyl::CostDataFramePlacementTpl
Definition: frame-placement.hpp:73
crocoddyl::CostDataContactImpulseTpl
Definition: contact-impulse.hpp:165
crocoddyl::CostModelContactFrictionConeTpl
Definition: contact-friction-cone.hpp:26
crocoddyl::ActionModelImpulseFwdDynamicsTpl
Definition: impulse-fwddyn.hpp:34
crocoddyl::ImpulseDataAbstractTpl
Definition: fwd.hpp:165
crocoddyl::CostModelNumDiffTpl
Definition: fwd.hpp:49
crocoddyl::DataCollectorImpulseTpl
Definition: impulses.hpp:21
crocoddyl::CostDataFrameTranslationTpl
Definition: frame-translation.hpp:73
crocoddyl::CostModelFramePlacementTpl
Definition: frame-placement.hpp:22
crocoddyl::CostModelControlTpl
Definition: control.hpp:19
crocoddyl::CostDataSumTpl
Definition: cost-sum.hpp:98
crocoddyl::DifferentialActionDataContactFwdDynamicsTpl
Definition: contact-fwddyn.hpp:87
crocoddyl::CostModelStateTpl
Definition: state.hpp:20
crocoddyl::CostModelAbstractTpl
Definition: cost-base.hpp:25
crocoddyl::ContactModelNumDiffTpl
Definition: fwd.hpp:54
crocoddyl::CostModelFrameRotationTpl
Definition: frame-rotation.hpp:22
crocoddyl::CostDataCoMPositionTpl
Definition: com-position.hpp:70
crocoddyl::DataCollectorContactTpl
Definition: contacts.hpp:21
crocoddyl::CostModelSumTpl
Definition: cost-sum.hpp:41
crocoddyl::ImpulseModel3DTpl
Definition: fwd.hpp:222
crocoddyl::CostDataImpulseFrictionConeTpl
Definition: impulse-friction-cone.hpp:75
crocoddyl::ActuationModelMultiCopterBaseTpl
Definition: multicopter-base.hpp:29
crocoddyl::CostModelFrameTranslationTpl
Definition: frame-translation.hpp:23
crocoddyl::CostDataNumDiffTpl
Definition: fwd.hpp:51
crocoddyl::FrameTranslationTpl
Definition: frames.hpp:26
crocoddyl::ContactItemTpl
Definition: multiple-contacts.hpp:23
crocoddyl::ContactModelAbstractTpl
Definition: contact-base.hpp:23
crocoddyl::CostModelContactImpulseTpl
Define a contact impulse cost function.
Definition: contact-impulse.hpp:47
crocoddyl::CostDataImpulseCoMTpl
Definition: impulse-com.hpp:58
crocoddyl::FrameCoPSupportTpl
Definition: frames.hpp:140
crocoddyl::CostModelContactForceTpl
Define a contact force cost function.
Definition: contact-force.hpp:47
crocoddyl::ImpulseDataMultipleTpl
Define the multi-impulse data.
Definition: fwd.hpp:231
crocoddyl::FrameRotationTpl
Definition: frames.hpp:45
crocoddyl::ImpulseModelMultipleTpl
Define a stack of impulse models.
Definition: fwd.hpp:229
crocoddyl::CostItemTpl
Definition: cost-sum.hpp:23
crocoddyl::FramePlacementTpl
Definition: frames.hpp:64
crocoddyl::CostDataContactCoPPositionTpl
Definition: contact-cop-position.hpp:176
crocoddyl::ContactData6DTpl
Definition: contact-6d.hpp:63
crocoddyl::ImpulseData6DTpl
Definition: fwd.hpp:219
crocoddyl::DifferentialActionModelContactFwdDynamicsTpl
Definition: contact-fwddyn.hpp:25
crocoddyl::DataCollectorMultibodyInImpulseTpl
Definition: impulses.hpp:32
crocoddyl::CostModelFrameVelocityTpl
Definition: frame-velocity.hpp:22
crocoddyl::StateMultibodyTpl
Definition: fwd.hpp:191
crocoddyl::DifferentialActionModelFreeFwdDynamicsTpl
Definition: free-fwddyn.hpp:28
crocoddyl::ActionDataImpulseFwdDynamicsTpl
Definition: impulse-fwddyn.hpp:95
crocoddyl::CostModelCoMPositionTpl
Definition: com-position.hpp:21
crocoddyl::FrictionConeTpl
Definition: friction-cone.hpp:18
crocoddyl::ContactDataAbstractTpl
Definition: contact-base.hpp:60
crocoddyl::CostDataStateTpl
Definition: state.hpp:71
crocoddyl::ContactDataMultipleTpl
Define the multi-contact data.
Definition: multiple-contacts.hpp:228
crocoddyl::CostDataFrameRotationTpl
Definition: frame-rotation.hpp:72
crocoddyl::ContactDataNumDiffTpl
Definition: fwd.hpp:56
crocoddyl::CostModelImpulseFrictionConeTpl
Definition: impulse-friction-cone.hpp:26
crocoddyl::DataCollectorMultibodyInContactTpl
Definition: contacts.hpp:32
crocoddyl::CostDataAbstractTpl
Definition: cost-base.hpp:76
crocoddyl::DifferentialActionDataFreeFwdDynamicsTpl
Definition: free-fwddyn.hpp:79
crocoddyl::CostModelContactCoPPositionTpl
Define a center of pressure cost function.
Definition: contact-cop-position.hpp:46
crocoddyl::CostModelCentroidalMomentumTpl
Definition: centroidal-momentum.hpp:21
crocoddyl::CostDataContactForceTpl
Definition: contact-force.hpp:199
crocoddyl::CostDataContactFrictionConeTpl
Definition: contact-friction-cone.hpp:81
crocoddyl::ActuationModelFullTpl
Definition: full.hpp:19
crocoddyl::ImpulseItemTpl
Definition: fwd.hpp:227
crocoddyl::ImpulseData3DTpl
Definition: fwd.hpp:224
crocoddyl::CostDataFrameVelocityTpl
Definition: frame-velocity.hpp:71
crocoddyl::ImpulseModel6DTpl
Definition: fwd.hpp:217
crocoddyl::ActuationModelFloatingBaseTpl
Definition: floating-base.hpp:19
crocoddyl::CostDataCentroidalMomentumTpl
Definition: centroidal-momentum.hpp:71
crocoddyl::CostModelImpulseCoMTpl
Definition: impulse-com.hpp:22
crocoddyl::FrameFrictionConeTpl
Definition: frames.hpp:121
crocoddyl::ContactData3DTpl
Definition: contact-3d.hpp:66
crocoddyl::FrameForceTpl
Definition: frames.hpp:102
crocoddyl::ContactModel3DTpl
Definition: contact-3d.hpp:25
crocoddyl::ContactModelMultipleTpl
Define a stack of contact models.
Definition: multiple-contacts.hpp:46
crocoddyl::FrameMotionTpl
Definition: frames.hpp:83
crocoddyl::DataCollectorActMultibodyTpl
Definition: multibody.hpp:31
crocoddyl::DataCollectorMultibodyTpl
Definition: multibody.hpp:21
crocoddyl::DataCollectorActMultibodyInContactTpl
Definition: contacts.hpp:42
crocoddyl::ImpulseModelAbstractTpl
Definition: fwd.hpp:163
crocoddyl::ContactModel6DTpl
Definition: contact-6d.hpp:22