10 #define SOBEC_FWD_HPP_ 12 #include <crocoddyl/core/action-base.hpp> 13 #include <crocoddyl/core/activations/quadratic-barrier.hpp> 14 #include <crocoddyl/core/activations/quadratic-flat-log.hpp> 15 #include <crocoddyl/core/activations/weighted-quadratic.hpp> 16 #include <crocoddyl/core/fwd.hpp> 17 #include <crocoddyl/core/integrator/euler.hpp> 18 #include <crocoddyl/core/optctrl/shooting.hpp> 19 #include <crocoddyl/core/residuals/control.hpp> 20 #include <crocoddyl/core/solver-base.hpp> 21 #include <crocoddyl/core/solvers/fddp.hpp> 22 #include <crocoddyl/core/utils/exception.hpp> 23 #include <crocoddyl/multibody/actions/contact-fwddyn.hpp> 24 #include <crocoddyl/multibody/actuations/floating-base.hpp> 25 #include <crocoddyl/multibody/contacts/contact-6d.hpp> 26 #include <crocoddyl/multibody/contacts/multiple-contacts.hpp> 27 #include <crocoddyl/multibody/frames.hpp> 28 #include <crocoddyl/multibody/fwd.hpp> 29 #include <crocoddyl/multibody/residuals/com-position.hpp> 30 #include <crocoddyl/multibody/residuals/contact-control-gravity.hpp> 31 #include <crocoddyl/multibody/residuals/contact-wrench-cone.hpp> 32 #include <crocoddyl/multibody/residuals/frame-placement.hpp> 33 #include <crocoddyl/multibody/residuals/frame-rotation.hpp> 34 #include <crocoddyl/multibody/residuals/frame-translation.hpp> 35 #include <crocoddyl/multibody/residuals/frame-velocity.hpp> 36 #include <crocoddyl/multibody/residuals/state.hpp> 37 #include <crocoddyl/multibody/states/multibody.hpp> 38 #include <pinocchio/algorithm/center-of-mass.hpp> 39 #include <pinocchio/algorithm/frames.hpp> 40 #include <pinocchio/algorithm/joint-configuration.hpp> 41 #include <pinocchio/algorithm/model.hpp> 42 #include <pinocchio/fwd.hpp> 43 #include <pinocchio/multibody/data.hpp> 44 #include <pinocchio/multibody/model.hpp> 52 template <
typename Scalar>
53 class ResidualModelCoMVelocityTpl;
54 template <
typename Scalar>
60 template <
typename Scalar>
62 template <
typename Scalar>
68 template <
typename Scalar>
70 template <
typename Scalar>
76 template <
typename Scalar>
78 template <
typename Scalar>
84 template <
typename Scalar>
86 template <
typename Scalar>
92 template <
typename Scalar>
94 template <
typename Scalar>
100 template <
typename Scalar>
109 typedef boost::shared_ptr<crocoddyl::IntegratedActionModelEuler>
IAM;
110 typedef boost::shared_ptr<crocoddyl::IntegratedActionDataEuler>
IAD;
111 typedef boost::shared_ptr<crocoddyl::ActionModelAbstract>
AMA;
112 typedef boost::shared_ptr<crocoddyl::ActionDataAbstract>
ADA;
113 typedef boost::shared_ptr<crocoddyl::DifferentialActionModelContactFwdDynamics>
115 typedef boost::shared_ptr<crocoddyl::CostModelSum>
Cost;
116 typedef boost::shared_ptr<crocoddyl::ContactModelMultiple>
Contact;
117 typedef boost::shared_ptr<crocoddyl::SolverFDDP>
DDP;
119 typedef boost::shared_ptr<crocoddyl::ResidualModelFramePlacement>
121 typedef boost::shared_ptr<crocoddyl::ResidualModelContactWrenchCone>
125 template <
typename Scalar>
130 template <
typename Scalar>
133 template <
typename Scalar>
146 namespace newcontacts {
149 template <
typename Scalar>
152 template <
typename Scalar>
157 template <
typename Scalar>
160 template <
typename Scalar>
165 template <
typename Scalar>
170 template <
typename Scalar>
176 template <
typename Scalar>
191 #endif // SOBEC_FWD_HPP_
boost::shared_ptr< crocoddyl::SolverFDDP > DDP
Definition: fwd.hpp:117
Cost penalizing high horizontal velocity near zero altitude.
Definition: residual-fly-high.hpp:32
IntegratedActionDataLPFTpl< double > IntegratedActionDataLPF
Definition: fwd.hpp:134
ResidualModelCenterOfPressureTpl< double > ResidualModelCenterOfPressure
Definition: fwd.hpp:63
IntegratedActionModelLPFTpl< double > IntegratedActionModelLPF
Definition: fwd.hpp:131
boost::shared_ptr< crocoddyl::IntegratedActionDataEuler > IAD
Definition: fwd.hpp:110
ResidualDataCenterOfFrictionTpl< double > ResidualDataCenterOfFriction
Definition: fwd.hpp:73
Eigen::Vector3d eVector3
Definition: fwd.hpp:107
Eigen::Matrix< double, 6, 1 > eVector6
Definition: fwd.hpp:105
StateLPFTpl< double > StateLPF
Definition: fwd.hpp:126
boost::shared_ptr< crocoddyl::ResidualModelContactWrenchCone > ResidualModelContactWrenchConePtr
Definition: fwd.hpp:122
Eigen::Vector2d eVector2
Definition: fwd.hpp:108
Definition: residual-feet-collision.hpp:119
Definition: residual-fly-high.hpp:128
ResidualDataFlyHighTpl< double > ResidualDataFlyHigh
Definition: fwd.hpp:89
Cost penalizing distance between two frames r=||f1.translation-f2.translation||.
Definition: residual-feet-collision.hpp:29
ResidualDataCoMVelocityTpl< double > ResidualDataCoMVelocity
Definition: fwd.hpp:57
boost::shared_ptr< crocoddyl::ContactModelMultiple > Contact
Definition: fwd.hpp:116
boost::shared_ptr< crocoddyl::DifferentialActionModelContactFwdDynamics > DAM
Definition: fwd.hpp:114
Definition: activation-quad-ref.hpp:19
ResidualModelVelCollisionTpl< double > ResidualModelVelCollision
Definition: fwd.hpp:79
ResidualDataVelCollisionTpl< double > ResidualDataVelCollision
Definition: fwd.hpp:81
ResidualModelCoMVelocityTpl< double > ResidualModelCoMVelocity
Definition: fwd.hpp:55
boost::shared_ptr< ActivationModelQuadRef > ActivationModelQuadRefPtr
Definition: fwd.hpp:103
Definition: activation-quad-ref.hpp:23
Definition: action.hpp:165
boost::shared_ptr< crocoddyl::ActionModelAbstract > AMA
Definition: fwd.hpp:111
ResidualModelFlyHighTpl< double > ResidualModelFlyHigh
Definition: fwd.hpp:87
ResidualDataCenterOfPressureTpl< double > ResidualDataCenterOfPressure
Definition: fwd.hpp:65
boost::shared_ptr< crocoddyl::ActionDataAbstract > ADA
Definition: fwd.hpp:112
ActivationModelQuadRefTpl< double > ActivationModelQuadRef
Definition: fwd.hpp:101
Definition: action.hpp:25
Definition: residual-cop.hpp:118
ResidualModelFeetCollisionTpl< double > ResidualModelFeetCollision
Definition: fwd.hpp:95
ResidualDataFeetCollisionTpl< double > ResidualDataFeetCollision
Definition: fwd.hpp:97
boost::shared_ptr< crocoddyl::IntegratedActionModelEuler > IAM
Definition: fwd.hpp:109
Center of friction residual.
Definition: residual-center-of-friction.hpp:41
Definition: residual-center-of-friction.hpp:118
boost::shared_ptr< crocoddyl::CostModelSum > Cost
Definition: fwd.hpp:115
boost::shared_ptr< crocoddyl::ResidualModelFramePlacement > ResidualModelFramePlacementPtr
Definition: fwd.hpp:120
ResidualModelCenterOfFrictionTpl< double > ResidualModelCenterOfFriction
Definition: fwd.hpp:71
CoM velocity residual.
Definition: residual-com-velocity.hpp:73
Eigen::Matrix< double, 4, 1 > eVector4
Definition: fwd.hpp:106
Definition: residual-com-velocity.hpp:23
COP residual.
Definition: residual-cop.hpp:41