| Line |
Branch |
Exec |
Source |
| 1 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
| 2 |
|
|
// BSD 3-Clause License |
| 3 |
|
|
// |
| 4 |
|
|
// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, |
| 5 |
|
|
// University of Oxford, Heriot-Watt University |
| 6 |
|
|
// Copyright note valid unless otherwise stated in individual files. |
| 7 |
|
|
// All rights reserved. |
| 8 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
| 9 |
|
|
|
| 10 |
|
|
#ifndef CROCODDYL_MULTIBODY_ACTIONS_IMPULSE_FWDDYN_HPP_ |
| 11 |
|
|
#define CROCODDYL_MULTIBODY_ACTIONS_IMPULSE_FWDDYN_HPP_ |
| 12 |
|
|
|
| 13 |
|
|
#include "crocoddyl/core/action-base.hpp" |
| 14 |
|
|
#include "crocoddyl/core/constraints/constraint-manager.hpp" |
| 15 |
|
|
#include "crocoddyl/core/costs/cost-sum.hpp" |
| 16 |
|
|
#include "crocoddyl/multibody/actions/impulse-fwddyn.hpp" |
| 17 |
|
|
#include "crocoddyl/multibody/actuations/floating-base.hpp" |
| 18 |
|
|
#include "crocoddyl/multibody/data/impulses.hpp" |
| 19 |
|
|
#include "crocoddyl/multibody/fwd.hpp" |
| 20 |
|
|
#include "crocoddyl/multibody/impulses/multiple-impulses.hpp" |
| 21 |
|
|
#include "crocoddyl/multibody/states/multibody.hpp" |
| 22 |
|
|
|
| 23 |
|
|
namespace crocoddyl { |
| 24 |
|
|
|
| 25 |
|
|
/** |
| 26 |
|
|
* @brief Action model for impulse forward dynamics in multibody systems. |
| 27 |
|
|
* |
| 28 |
|
|
* This class implements impulse forward dynamics given a stack of |
| 29 |
|
|
* rigid-impulses described in `ImpulseModelMultipleTpl`, i.e., \f[ |
| 30 |
|
|
* \left[\begin{matrix}\mathbf{v}^+ \\ -\boldsymbol{\Lambda}\end{matrix}\right] |
| 31 |
|
|
* = \left[\begin{matrix}\mathbf{M} & \mathbf{J}^{\top}_c \\ {\mathbf{J}_{c}} & |
| 32 |
|
|
* \mathbf{0} \end{matrix}\right]^{-1} |
| 33 |
|
|
* \left[\begin{matrix}\mathbf{M}\mathbf{v}^- \\ -e\mathbf{J}_c\mathbf{v}^- |
| 34 |
|
|
* \\\end{matrix}\right], \f] where \f$\mathbf{q}\in Q\f$, |
| 35 |
|
|
* \f$\mathbf{v}\in\mathbb{R}^{nv}\f$ are the configuration point and |
| 36 |
|
|
* generalized velocity (its tangent vector), respectively; \f$\mathbf{v}^+\f$, |
| 37 |
|
|
* \f$\mathbf{v}^-\f$ are the discontinuous changes in the generalized velocity |
| 38 |
|
|
* (i.e., velocity before and after impact, respectively); |
| 39 |
|
|
* \f$\mathbf{J}_c\in\mathbb{R}^{nc\times nv}\f$ is the contact Jacobian |
| 40 |
|
|
* expressed in the local frame; and |
| 41 |
|
|
* \f$\boldsymbol{\Lambda}\in\mathbb{R}^{nc}\f$ is the impulse vector. |
| 42 |
|
|
* |
| 43 |
|
|
* The derivatives of the next state and contact impulses are computed |
| 44 |
|
|
* efficiently based on the analytical derivatives of Recursive Newton Euler |
| 45 |
|
|
* Algorithm (RNEA) as described in \cite mastalli-icra20. Note that the |
| 46 |
|
|
* algorithm for computing the RNEA derivatives is described in \cite |
| 47 |
|
|
* carpentier-rss18. |
| 48 |
|
|
* |
| 49 |
|
|
* The stack of cost and constraint functions are implemented in |
| 50 |
|
|
* `CostModelSumTpl` and `ConstraintModelAbstractTpl`, respectively. The |
| 51 |
|
|
* computation of the impulse dynamics and its derivatives are carrying out |
| 52 |
|
|
* inside `calc()` and `calcDiff()` functions, respectively. It is also |
| 53 |
|
|
* important to remark that `calcDiff()` computes the derivatives using the |
| 54 |
|
|
* latest stored values by `calc()`. Thus, we need to run `calc()` first. |
| 55 |
|
|
* |
| 56 |
|
|
* \sa `ActionModelAbstractTpl`, `calc()`, `calcDiff()`, `createData()` |
| 57 |
|
|
*/ |
| 58 |
|
|
template <typename _Scalar> |
| 59 |
|
|
class ActionModelImpulseFwdDynamicsTpl |
| 60 |
|
|
: public ActionModelAbstractTpl<_Scalar> { |
| 61 |
|
|
public: |
| 62 |
|
|
EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
| 63 |
|
✗ |
CROCODDYL_DERIVED_CAST(ActionModelBase, ActionModelImpulseFwdDynamicsTpl) |
| 64 |
|
|
|
| 65 |
|
|
typedef _Scalar Scalar; |
| 66 |
|
|
typedef ActionModelAbstractTpl<Scalar> Base; |
| 67 |
|
|
typedef ActionDataImpulseFwdDynamicsTpl<Scalar> Data; |
| 68 |
|
|
typedef MathBaseTpl<Scalar> MathBase; |
| 69 |
|
|
typedef CostModelSumTpl<Scalar> CostModelSum; |
| 70 |
|
|
typedef ConstraintModelManagerTpl<Scalar> ConstraintModelManager; |
| 71 |
|
|
typedef StateMultibodyTpl<Scalar> StateMultibody; |
| 72 |
|
|
typedef ActionDataAbstractTpl<Scalar> ActionDataAbstract; |
| 73 |
|
|
typedef ImpulseModelMultipleTpl<Scalar> ImpulseModelMultiple; |
| 74 |
|
|
typedef typename MathBase::VectorXs VectorXs; |
| 75 |
|
|
typedef typename MathBase::MatrixXs MatrixXs; |
| 76 |
|
|
|
| 77 |
|
|
/** |
| 78 |
|
|
* @brief Initialize the impulse forward-dynamics action model |
| 79 |
|
|
* |
| 80 |
|
|
* It describes the impulse dynamics of a multibody system under rigid-contact |
| 81 |
|
|
* constraints defined by `ImpulseModelMultipleTpl`. It computes the cost |
| 82 |
|
|
* described in `CostModelSumTpl`. |
| 83 |
|
|
* |
| 84 |
|
|
* @param[in] state State of the multibody system |
| 85 |
|
|
* @param[in] actuation Actuation model |
| 86 |
|
|
* @param[in] impulses Stack of rigid impulses |
| 87 |
|
|
* @param[in] costs Stack of cost functions |
| 88 |
|
|
* @param[in] r_coeff Restitution coefficient (default 0.) |
| 89 |
|
|
* @param[in] JMinvJt_damping Damping term used in operational space inertia |
| 90 |
|
|
* matrix (default 0.) |
| 91 |
|
|
* @param[in] enable_force Enable the computation of the contact force |
| 92 |
|
|
* derivatives (default false) |
| 93 |
|
|
*/ |
| 94 |
|
|
ActionModelImpulseFwdDynamicsTpl( |
| 95 |
|
|
std::shared_ptr<StateMultibody> state, |
| 96 |
|
|
std::shared_ptr<ImpulseModelMultiple> impulses, |
| 97 |
|
|
std::shared_ptr<CostModelSum> costs, const Scalar r_coeff = Scalar(0.), |
| 98 |
|
|
const Scalar JMinvJt_damping = Scalar(0.), |
| 99 |
|
|
const bool enable_force = false); |
| 100 |
|
|
|
| 101 |
|
|
/** |
| 102 |
|
|
* @brief Initialize the impulse forward-dynamics action model |
| 103 |
|
|
* |
| 104 |
|
|
* It describes the impulse dynamics of a multibody system under rigid-contact |
| 105 |
|
|
* constraints defined by `ImpulseModelMultipleTpl`. It computes the cost |
| 106 |
|
|
* described in `CostModelSumTpl`. |
| 107 |
|
|
* |
| 108 |
|
|
* @param[in] state State of the multibody system |
| 109 |
|
|
* @param[in] actuation Actuation model |
| 110 |
|
|
* @param[in] impulses Stack of rigid impulses |
| 111 |
|
|
* @param[in] costs Stack of cost functions |
| 112 |
|
|
* @param[in] constraints Stack of constraints |
| 113 |
|
|
* @param[in] r_coeff Restitution coefficient (default 0.) |
| 114 |
|
|
* @param[in] JMinvJt_damping Damping term used in operational space inertia |
| 115 |
|
|
* matrix (default 0.) |
| 116 |
|
|
* @param[in] enable_force Enable the computation of the contact force |
| 117 |
|
|
* derivatives (default false) |
| 118 |
|
|
*/ |
| 119 |
|
|
ActionModelImpulseFwdDynamicsTpl( |
| 120 |
|
|
std::shared_ptr<StateMultibody> state, |
| 121 |
|
|
std::shared_ptr<ImpulseModelMultiple> impulses, |
| 122 |
|
|
std::shared_ptr<CostModelSum> costs, |
| 123 |
|
|
std::shared_ptr<ConstraintModelManager> constraints, |
| 124 |
|
|
const Scalar r_coeff = Scalar(0.), |
| 125 |
|
|
const Scalar JMinvJt_damping = Scalar(0.), |
| 126 |
|
|
const bool enable_force = false); |
| 127 |
|
✗ |
virtual ~ActionModelImpulseFwdDynamicsTpl() = default; |
| 128 |
|
|
|
| 129 |
|
|
/** |
| 130 |
|
|
* @brief Compute the system acceleration, and cost value |
| 131 |
|
|
* |
| 132 |
|
|
* It computes the system acceleration using the impulse dynamics. |
| 133 |
|
|
* |
| 134 |
|
|
* @param[in] data Impulse forward-dynamics data |
| 135 |
|
|
* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
| 136 |
|
|
* @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ |
| 137 |
|
|
*/ |
| 138 |
|
|
virtual void calc(const std::shared_ptr<ActionDataAbstract>& data, |
| 139 |
|
|
const Eigen::Ref<const VectorXs>& x, |
| 140 |
|
|
const Eigen::Ref<const VectorXs>& u) override; |
| 141 |
|
|
|
| 142 |
|
|
/** |
| 143 |
|
|
* @brief Compute the total cost value for nodes that depends only on the |
| 144 |
|
|
* state |
| 145 |
|
|
* |
| 146 |
|
|
* It updates the total cost and the system acceleration is not updated as it |
| 147 |
|
|
* is expected to be zero. Additionally, it does not update the contact |
| 148 |
|
|
* forces. This function is used in the terminal nodes of an optimal control |
| 149 |
|
|
* problem. |
| 150 |
|
|
* |
| 151 |
|
|
* @param[in] data Impulse forward-dynamics data |
| 152 |
|
|
* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
| 153 |
|
|
*/ |
| 154 |
|
|
virtual void calc(const std::shared_ptr<ActionDataAbstract>& data, |
| 155 |
|
|
const Eigen::Ref<const VectorXs>& x) override; |
| 156 |
|
|
|
| 157 |
|
|
/** |
| 158 |
|
|
* @brief Compute the derivatives of the impulse dynamics, and cost function |
| 159 |
|
|
* |
| 160 |
|
|
* @param[in] data Impulse forward-dynamics data |
| 161 |
|
|
* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
| 162 |
|
|
* @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ |
| 163 |
|
|
*/ |
| 164 |
|
|
virtual void calcDiff(const std::shared_ptr<ActionDataAbstract>& data, |
| 165 |
|
|
const Eigen::Ref<const VectorXs>& x, |
| 166 |
|
|
const Eigen::Ref<const VectorXs>& u) override; |
| 167 |
|
|
|
| 168 |
|
|
/** |
| 169 |
|
|
* @brief Compute the derivatives of the cost functions with respect to the |
| 170 |
|
|
* state only |
| 171 |
|
|
* |
| 172 |
|
|
* It updates the derivatives of the cost function with respect to the state |
| 173 |
|
|
* only. Additionally, it does not update the contact forces derivatives. This |
| 174 |
|
|
* function is used in the terminal nodes of an optimal control problem. |
| 175 |
|
|
* |
| 176 |
|
|
* @param[in] data Impulse forward-dynamics data |
| 177 |
|
|
* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
| 178 |
|
|
*/ |
| 179 |
|
|
virtual void calcDiff(const std::shared_ptr<ActionDataAbstract>& data, |
| 180 |
|
|
const Eigen::Ref<const VectorXs>& x) override; |
| 181 |
|
|
|
| 182 |
|
|
/** |
| 183 |
|
|
* @brief Create the impulse forward-dynamics data |
| 184 |
|
|
* |
| 185 |
|
|
* @return impulse forward-dynamics data |
| 186 |
|
|
*/ |
| 187 |
|
|
virtual std::shared_ptr<ActionDataAbstract> createData() override; |
| 188 |
|
|
|
| 189 |
|
|
/** |
| 190 |
|
|
* @brief Cast the impulse-fwddyn model to a different scalar type. |
| 191 |
|
|
* |
| 192 |
|
|
* It is useful for operations requiring different precision or scalar types. |
| 193 |
|
|
* |
| 194 |
|
|
* @tparam NewScalar The new scalar type to cast to. |
| 195 |
|
|
* @return ActionModelImpulseFwdDynamicsTpl<NewScalar> An action model with |
| 196 |
|
|
* the new scalar type. |
| 197 |
|
|
*/ |
| 198 |
|
|
template <typename NewScalar> |
| 199 |
|
|
ActionModelImpulseFwdDynamicsTpl<NewScalar> cast() const; |
| 200 |
|
|
|
| 201 |
|
|
/** |
| 202 |
|
|
* @brief Check that the given data belongs to the impulse forward-dynamics |
| 203 |
|
|
* data |
| 204 |
|
|
*/ |
| 205 |
|
|
virtual bool checkData( |
| 206 |
|
|
const std::shared_ptr<ActionDataAbstract>& data) override; |
| 207 |
|
|
|
| 208 |
|
|
/** |
| 209 |
|
|
* @brief @copydoc Base::quasiStatic() |
| 210 |
|
|
*/ |
| 211 |
|
|
virtual void quasiStatic(const std::shared_ptr<ActionDataAbstract>& data, |
| 212 |
|
|
Eigen::Ref<VectorXs> u, |
| 213 |
|
|
const Eigen::Ref<const VectorXs>& x, |
| 214 |
|
|
const std::size_t maxiter = 100, |
| 215 |
|
|
const Scalar tol = Scalar(1e-9)) override; |
| 216 |
|
|
|
| 217 |
|
|
/** |
| 218 |
|
|
* @brief Return the number of inequality constraints |
| 219 |
|
|
*/ |
| 220 |
|
|
virtual std::size_t get_ng() const override; |
| 221 |
|
|
|
| 222 |
|
|
/** |
| 223 |
|
|
* @brief Return the number of equality constraints |
| 224 |
|
|
*/ |
| 225 |
|
|
virtual std::size_t get_nh() const override; |
| 226 |
|
|
|
| 227 |
|
|
/** |
| 228 |
|
|
* @brief Return the number of equality terminal constraints |
| 229 |
|
|
*/ |
| 230 |
|
|
virtual std::size_t get_ng_T() const override; |
| 231 |
|
|
|
| 232 |
|
|
/** |
| 233 |
|
|
* @brief Return the number of equality terminal constraints |
| 234 |
|
|
*/ |
| 235 |
|
|
virtual std::size_t get_nh_T() const override; |
| 236 |
|
|
|
| 237 |
|
|
/** |
| 238 |
|
|
* @brief Return the lower bound of the inequality constraints |
| 239 |
|
|
*/ |
| 240 |
|
|
virtual const VectorXs& get_g_lb() const override; |
| 241 |
|
|
|
| 242 |
|
|
/** |
| 243 |
|
|
* @brief Return the upper bound of the inequality constraints |
| 244 |
|
|
*/ |
| 245 |
|
|
virtual const VectorXs& get_g_ub() const override; |
| 246 |
|
|
|
| 247 |
|
|
/** |
| 248 |
|
|
* @brief Return the impulse model |
| 249 |
|
|
*/ |
| 250 |
|
|
const std::shared_ptr<ImpulseModelMultiple>& get_impulses() const; |
| 251 |
|
|
|
| 252 |
|
|
/** |
| 253 |
|
|
* @brief Return the cost model |
| 254 |
|
|
*/ |
| 255 |
|
|
const std::shared_ptr<CostModelSum>& get_costs() const; |
| 256 |
|
|
|
| 257 |
|
|
/** |
| 258 |
|
|
* @brief Return the constraint model manager |
| 259 |
|
|
*/ |
| 260 |
|
|
const std::shared_ptr<ConstraintModelManager>& get_constraints() const; |
| 261 |
|
|
|
| 262 |
|
|
/** |
| 263 |
|
|
* @brief Return the Pinocchio model |
| 264 |
|
|
*/ |
| 265 |
|
|
pinocchio::ModelTpl<Scalar>& get_pinocchio() const; |
| 266 |
|
|
|
| 267 |
|
|
/** |
| 268 |
|
|
* @brief Return the armature vector |
| 269 |
|
|
*/ |
| 270 |
|
|
const VectorXs& get_armature() const; |
| 271 |
|
|
|
| 272 |
|
|
/** |
| 273 |
|
|
* @brief Return the restituion coefficient |
| 274 |
|
|
*/ |
| 275 |
|
|
const Scalar get_restitution_coefficient() const; |
| 276 |
|
|
|
| 277 |
|
|
/** |
| 278 |
|
|
* @brief Return the damping factor used in the operational space inertia |
| 279 |
|
|
* matrix |
| 280 |
|
|
*/ |
| 281 |
|
|
const Scalar get_damping_factor() const; |
| 282 |
|
|
|
| 283 |
|
|
/** |
| 284 |
|
|
* @brief Modify the armature vector |
| 285 |
|
|
*/ |
| 286 |
|
|
void set_armature(const VectorXs& armature); |
| 287 |
|
|
|
| 288 |
|
|
/** |
| 289 |
|
|
* @brief Modify the restituion coefficient |
| 290 |
|
|
*/ |
| 291 |
|
|
void set_restitution_coefficient(const Scalar r_coeff); |
| 292 |
|
|
|
| 293 |
|
|
/** |
| 294 |
|
|
* @brief Modify the damping factor used in the operational space inertia |
| 295 |
|
|
* matrix |
| 296 |
|
|
*/ |
| 297 |
|
|
void set_damping_factor(const Scalar damping); |
| 298 |
|
|
|
| 299 |
|
|
/** |
| 300 |
|
|
* @brief Print relevant information of the impulse forward-dynamics model |
| 301 |
|
|
* |
| 302 |
|
|
* @param[out] os Output stream object |
| 303 |
|
|
*/ |
| 304 |
|
|
virtual void print(std::ostream& os) const override; |
| 305 |
|
|
|
| 306 |
|
|
protected: |
| 307 |
|
|
using Base::g_lb_; //!< Lower bound of the inequality constraints |
| 308 |
|
|
using Base::g_ub_; //!< Upper bound of the inequality constraints |
| 309 |
|
|
using Base::state_; //!< Model of the state |
| 310 |
|
|
|
| 311 |
|
|
private: |
| 312 |
|
|
void init(); |
| 313 |
|
|
void initCalc(Data* data, const Eigen::Ref<const VectorXs>& x); |
| 314 |
|
|
void initCalcDiff(Data* data, const Eigen::Ref<const VectorXs>& x); |
| 315 |
|
|
std::shared_ptr<ImpulseModelMultiple> impulses_; //!< Impulse model |
| 316 |
|
|
std::shared_ptr<CostModelSum> costs_; //!< Cost model |
| 317 |
|
|
std::shared_ptr<ConstraintModelManager> constraints_; //!< Constraint model |
| 318 |
|
|
pinocchio::ModelTpl<Scalar>* pinocchio_; //!< Pinocchio model |
| 319 |
|
|
bool with_armature_; //!< Indicate if we have defined an armature |
| 320 |
|
|
VectorXs armature_; //!< Armature vector |
| 321 |
|
|
Scalar r_coeff_; //!< Restitution coefficient |
| 322 |
|
|
Scalar JMinvJt_damping_; //!< Damping factor used in operational space |
| 323 |
|
|
//!< inertia matrix |
| 324 |
|
|
bool enable_force_; //!< Indicate if we have enabled the computation of the |
| 325 |
|
|
//!< contact-forces derivatives |
| 326 |
|
|
pinocchio::MotionTpl<Scalar> gravity_; //! Gravity acceleration |
| 327 |
|
|
}; |
| 328 |
|
|
|
| 329 |
|
|
template <typename _Scalar> |
| 330 |
|
|
struct ActionDataImpulseFwdDynamicsTpl : public ActionDataAbstractTpl<_Scalar> { |
| 331 |
|
|
EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
| 332 |
|
|
typedef _Scalar Scalar; |
| 333 |
|
|
typedef MathBaseTpl<Scalar> MathBase; |
| 334 |
|
|
typedef ActionDataAbstractTpl<Scalar> Base; |
| 335 |
|
|
typedef typename MathBase::VectorXs VectorXs; |
| 336 |
|
|
typedef typename MathBase::MatrixXs MatrixXs; |
| 337 |
|
|
|
| 338 |
|
|
template <template <typename Scalar> class Model> |
| 339 |
|
✗ |
explicit ActionDataImpulseFwdDynamicsTpl(Model<Scalar>* const model) |
| 340 |
|
|
: Base(model), |
| 341 |
|
✗ |
pinocchio(pinocchio::DataTpl<Scalar>(model->get_pinocchio())), |
| 342 |
|
✗ |
multibody(&pinocchio, model->get_impulses()->createData(&pinocchio)), |
| 343 |
|
✗ |
costs(model->get_costs()->createData(&multibody)), |
| 344 |
|
✗ |
vnone(model->get_state()->get_nv()), |
| 345 |
|
✗ |
Kinv(model->get_state()->get_nv() + |
| 346 |
|
✗ |
model->get_impulses()->get_nc_total(), |
| 347 |
|
✗ |
model->get_state()->get_nv() + |
| 348 |
|
✗ |
model->get_impulses()->get_nc_total()), |
| 349 |
|
✗ |
df_dx(model->get_impulses()->get_nc_total(), |
| 350 |
|
✗ |
model->get_state()->get_ndx()), |
| 351 |
|
✗ |
dgrav_dq(model->get_state()->get_nv(), model->get_state()->get_nv()) { |
| 352 |
|
✗ |
costs->shareMemory(this); |
| 353 |
|
✗ |
if (model->get_constraints() != nullptr) { |
| 354 |
|
✗ |
constraints = model->get_constraints()->createData(&multibody); |
| 355 |
|
✗ |
constraints->shareMemory(this); |
| 356 |
|
|
} |
| 357 |
|
✗ |
vnone.setZero(); |
| 358 |
|
✗ |
Kinv.setZero(); |
| 359 |
|
✗ |
df_dx.setZero(); |
| 360 |
|
✗ |
dgrav_dq.setZero(); |
| 361 |
|
|
} |
| 362 |
|
✗ |
virtual ~ActionDataImpulseFwdDynamicsTpl() = default; |
| 363 |
|
|
|
| 364 |
|
|
pinocchio::DataTpl<Scalar> pinocchio; |
| 365 |
|
|
DataCollectorMultibodyInImpulseTpl<Scalar> multibody; |
| 366 |
|
|
std::shared_ptr<CostDataSumTpl<Scalar> > costs; |
| 367 |
|
|
std::shared_ptr<ConstraintDataManagerTpl<Scalar> > constraints; |
| 368 |
|
|
VectorXs vnone; |
| 369 |
|
|
MatrixXs Kinv; |
| 370 |
|
|
MatrixXs df_dx; |
| 371 |
|
|
MatrixXs dgrav_dq; |
| 372 |
|
|
}; |
| 373 |
|
|
|
| 374 |
|
|
} // namespace crocoddyl |
| 375 |
|
|
|
| 376 |
|
|
/* --- Details -------------------------------------------------------------- */ |
| 377 |
|
|
/* --- Details -------------------------------------------------------------- */ |
| 378 |
|
|
/* --- Details -------------------------------------------------------------- */ |
| 379 |
|
|
#include <crocoddyl/multibody/actions/impulse-fwddyn.hxx> |
| 380 |
|
|
|
| 381 |
|
|
CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS( |
| 382 |
|
|
crocoddyl::ActionModelImpulseFwdDynamicsTpl) |
| 383 |
|
|
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT( |
| 384 |
|
|
crocoddyl::ActionDataImpulseFwdDynamicsTpl) |
| 385 |
|
|
|
| 386 |
|
|
#endif // CROCODDYL_MULTIBODY_ACTIONS_IMPULSE_FWDDYN_HPP_ |
| 387 |
|
|
|