Crocoddyl
 
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fwd.hpp
1
2// BSD 3-Clause License
3//
4// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, INRIA
5// Heriot-Watt University
6// Copyright note valid unless otherwise stated in individual files.
7// All rights reserved.
9
10#ifndef CROCODDYL_MULTIBODY_FWD_HPP_
11#define CROCODDYL_MULTIBODY_FWD_HPP_
12
13#include "crocoddyl/core/costs/residual.hpp"
14#include "crocoddyl/multibody/pch.hpp"
15
16namespace crocoddyl {
17
18// actuation
19template <typename Scalar>
20class ActuationModelFloatingBaseTpl;
21
22template <typename Scalar>
23class ActuationModelFullTpl;
24
25template <typename Scalar>
26struct ThrusterTpl;
27
28template <typename Scalar>
29class ActuationModelFloatingBaseThrustersTpl;
30
31// force
32template <typename Scala>
33struct ForceDataAbstractTpl;
34
35// contact
36template <typename Scalar>
37class ContactModelAbstractTpl;
38template <typename Scalar>
39struct ContactDataAbstractTpl;
40
41// action
42template <typename Scalar>
43class ActionModelImpulseFwdDynamicsTpl;
44template <typename Scalar>
45struct ActionDataImpulseFwdDynamicsTpl;
46
47// differential action
48template <typename Scalar>
49class DifferentialActionModelFreeFwdDynamicsTpl;
50template <typename Scalar>
51struct DifferentialActionDataFreeFwdDynamicsTpl;
52
53template <typename Scalar>
54class DifferentialActionModelFreeInvDynamicsTpl;
55template <typename Scalar>
56struct DifferentialActionDataFreeInvDynamicsTpl;
57
58template <typename Scalar>
59class DifferentialActionModelContactFwdDynamicsTpl;
60template <typename Scalar>
61struct DifferentialActionDataContactFwdDynamicsTpl;
62
63template <typename Scalar>
64class DifferentialActionModelContactInvDynamicsTpl;
65template <typename Scalar>
66struct DifferentialActionDataContactInvDynamicsTpl;
67
68// numdiff
69template <typename Scalar>
70class CostModelNumDiffTpl;
71template <typename Scalar>
72struct CostDataNumDiffTpl;
73
74template <typename Scalar>
75class ContactModelNumDiffTpl;
76template <typename Scalar>
77struct ContactDataNumDiffTpl;
78
79// residual
80template <typename Scalar>
81class ResidualModelCentroidalMomentumTpl;
82template <typename Scalar>
83struct ResidualDataCentroidalMomentumTpl;
84
85template <typename Scalar>
86class ResidualModelCoMPositionTpl;
87template <typename Scalar>
88struct ResidualDataCoMPositionTpl;
89
90template <typename Scalar>
91class ResidualModelContactForceTpl;
92template <typename Scalar>
93struct ResidualDataContactForceTpl;
94
95template <typename Scalar>
96class ResidualModelContactFrictionConeTpl;
97template <typename Scalar>
98struct ResidualDataContactFrictionConeTpl;
99
100template <typename Scalar>
101class ResidualModelContactCoPPositionTpl;
102template <typename Scalar>
103struct ResidualDataContactCoPPositionTpl;
104
105template <typename Scalar>
106class ResidualModelContactWrenchConeTpl;
107template <typename Scalar>
108struct ResidualDataContactWrenchConeTpl;
109
110template <typename Scalar>
111class ResidualModelContactControlGravTpl;
112template <typename Scalar>
113struct ResidualDataContactControlGravTpl;
114
115template <typename Scalar>
116class ResidualModelControlGravTpl;
117template <typename Scalar>
118struct ResidualDataControlGravTpl;
119
120template <typename Scalar>
121class ResidualModelFramePlacementTpl;
122template <typename Scalar>
123struct ResidualDataFramePlacementTpl;
124
125template <typename Scalar>
126class ResidualModelFrameRotationTpl;
127template <typename Scalar>
128struct ResidualDataFrameRotationTpl;
129
130template <typename Scalar>
131class ResidualModelFrameTranslationTpl;
132template <typename Scalar>
133struct ResidualDataFrameTranslationTpl;
134
135template <typename Scalar>
136class ResidualModelFrameVelocityTpl;
137template <typename Scalar>
138struct ResidualDataFrameVelocityTpl;
139
140template <typename Scalar>
141class ResidualModelImpulseCoMTpl;
142template <typename Scalar>
143struct ResidualDataImpulseCoMTpl;
144
145template <typename Scalar>
146class ResidualModelStateTpl;
147template <typename Scalar>
148struct ResidualDataStateTpl;
149
150#ifdef PINOCCHIO_WITH_HPP_FCL
151template <typename Scalar>
152class ResidualModelPairCollisionTpl;
153template <typename Scalar>
154struct ResidualDataPairCollisionTpl;
155#endif
156
157// impulse
158template <typename Scalar>
159class ImpulseModelAbstractTpl;
160template <typename Scalar>
161struct ImpulseDataAbstractTpl;
162
163// contact
164template <typename Scalar>
165struct ContactItemTpl;
166template <typename Scalar>
167class ContactModelMultipleTpl;
168template <typename Scalar>
169struct ContactDataMultipleTpl;
170
171template <typename Scalar>
172class ContactModel1DTpl;
173template <typename Scalar>
174struct ContactData1DTpl;
175
176template <typename Scalar>
177class ContactModel2DTpl;
178template <typename Scalar>
179struct ContactData2DTpl;
180
181template <typename Scalar>
182class ContactModel3DTpl;
183template <typename Scalar>
184struct ContactData3DTpl;
185
186template <typename Scalar>
187class ContactModel6DTpl;
188template <typename Scalar>
189struct ContactData6DTpl;
190
191// friction
192template <typename Scalar>
193class FrictionConeTpl;
194template <typename Scalar>
195class WrenchConeTpl;
196
197// cop support
198template <typename Scalar>
199class CoPSupportTpl;
200
201// state
202template <typename Scalar>
203class StateMultibodyTpl;
204
205// data collector
206template <typename Scalar>
207struct DataCollectorMultibodyTpl;
208
209template <typename Scalar>
210struct DataCollectorActMultibodyTpl;
211
212template <typename Scalar>
213struct DataCollectorJointActMultibodyTpl;
214
215template <typename Scalar>
216struct DataCollectorContactTpl;
217
218template <typename Scalar>
219struct DataCollectorMultibodyInContactTpl;
220
221template <typename Scalar>
222struct DataCollectorActMultibodyInContactTpl;
223
224template <typename Scalar>
225struct DataCollectorJointActMultibodyInContactTpl;
226
227template <typename Scalar>
228struct DataCollectorImpulseTpl;
229
230template <typename Scalar>
231struct DataCollectorMultibodyInImpulseTpl;
232
233// impulse
234template <typename Scalar>
235class ImpulseModel6DTpl;
236template <typename Scalar>
237struct ImpulseData6DTpl;
238
239template <typename Scalar>
240class ImpulseModel3DTpl;
241template <typename Scalar>
242struct ImpulseData3DTpl;
243
244template <typename Scalar>
245struct ImpulseItemTpl;
246template <typename Scalar>
247class ImpulseModelMultipleTpl;
248template <typename Scalar>
249struct ImpulseDataMultipleTpl;
250
251/**** Template Instantiation ****/
252
253typedef ActuationModelFloatingBaseTpl<double> ActuationModelFloatingBase;
254typedef ActuationModelFullTpl<double> ActuationModelFull;
255typedef ThrusterTpl<double> Thruster;
256typedef ActuationModelFloatingBaseThrustersTpl<double>
257 ActuationModelFloatingBaseThrusters;
258
259typedef ForceDataAbstractTpl<double> ForceDataAbstract;
260
261typedef ContactModelAbstractTpl<double> ContactModelAbstract;
262typedef ContactDataAbstractTpl<double> ContactDataAbstract;
263
264typedef ActionModelImpulseFwdDynamicsTpl<double> ActionModelImpulseFwdDynamics;
265typedef ActionDataImpulseFwdDynamicsTpl<double> ActionDataImpulseFwdDynamics;
266
267typedef DifferentialActionModelFreeFwdDynamicsTpl<double>
268 DifferentialActionModelFreeFwdDynamics;
269typedef DifferentialActionDataFreeFwdDynamicsTpl<double>
270 DifferentialActionDataFreeFwdDynamics;
271typedef DifferentialActionModelFreeInvDynamicsTpl<double>
272 DifferentialActionModelFreeInvDynamics;
273typedef DifferentialActionDataFreeInvDynamicsTpl<double>
274 DifferentialActionDataFreeInvDynamics;
275typedef DifferentialActionModelContactFwdDynamicsTpl<double>
276 DifferentialActionModelContactFwdDynamics;
277typedef DifferentialActionDataContactFwdDynamicsTpl<double>
278 DifferentialActionDataContactFwdDynamics;
279typedef DifferentialActionModelContactInvDynamicsTpl<double>
280 DifferentialActionModelContactInvDynamics;
281typedef DifferentialActionDataContactInvDynamicsTpl<double>
282 DifferentialActionDataContactInvDynamics;
283
284typedef CostModelNumDiffTpl<double> CostModelNumDiff;
285typedef CostDataNumDiffTpl<double> CostDataNumDiff;
286typedef ContactModelNumDiffTpl<double> ContactModelNumDiff;
287typedef ContactDataNumDiffTpl<double> ContactDataNumDiff;
288
289typedef FrictionConeTpl<double> FrictionCone;
290typedef WrenchConeTpl<double> WrenchCone;
291typedef CoPSupportTpl<double> CoPSupport;
292
293typedef ResidualModelCentroidalMomentumTpl<double>
294 ResidualModelCentroidalMomentum;
295typedef ResidualDataCentroidalMomentumTpl<double>
296 ResidualDataCentroidalMomentum;
297typedef ResidualModelCoMPositionTpl<double> ResidualModelCoMPosition;
298typedef ResidualDataCoMPositionTpl<double> ResidualDataCoMPosition;
299typedef ResidualModelContactForceTpl<double> ResidualModelContactForce;
300typedef ResidualDataContactForceTpl<double> ResidualDataContactForce;
301typedef ResidualModelContactFrictionConeTpl<double>
302 ResidualModelContactFrictionCone;
303typedef ResidualDataContactFrictionConeTpl<double>
304 ResidualDataContactFrictionCone;
305typedef ResidualModelContactCoPPositionTpl<double>
306 ResidualModelContactCoPPosition;
307typedef ResidualDataContactCoPPositionTpl<double>
308 ResidualDataContactCoPPosition;
309typedef ResidualModelContactWrenchConeTpl<double>
310 ResidualModelContactWrenchCone;
311typedef ResidualDataContactWrenchConeTpl<double> ResidualDataContactWrenchCone;
312typedef ResidualModelContactControlGravTpl<double>
313 ResidualModelContactControlGrav;
314typedef ResidualDataContactControlGravTpl<double>
315 ResidualDataContactControlGrav;
316typedef ResidualModelControlGravTpl<double> ResidualModelControlGrav;
317typedef ResidualDataControlGravTpl<double> ResidualDataControlGrav;
318typedef ResidualModelFramePlacementTpl<double> ResidualModelFramePlacement;
319typedef ResidualDataFramePlacementTpl<double> ResidualDataFramePlacement;
320typedef ResidualModelFrameRotationTpl<double> ResidualModelFrameRotation;
321typedef ResidualDataFrameRotationTpl<double> ResidualDataFrameRotation;
322typedef ResidualModelFrameTranslationTpl<double> ResidualModelFrameTranslation;
323typedef ResidualDataFrameTranslationTpl<double> ResidualDataFrameTranslation;
324typedef ResidualModelFrameVelocityTpl<double> ResidualModelFrameVelocity;
325typedef ResidualDataFrameVelocityTpl<double> ResidualDataFrameVelocity;
326typedef ResidualModelImpulseCoMTpl<double> ResidualModelImpulseCoM;
327typedef ResidualDataImpulseCoMTpl<double> ResidualDataImpulseCoM;
328typedef ResidualModelStateTpl<double> ResidualModelState;
329typedef ResidualDataStateTpl<double> ResidualDataState;
330
331#ifdef PINOCCHIO_WITH_HPP_FCL
332typedef ResidualModelPairCollisionTpl<double> ResidualModelPairCollision;
333typedef ResidualDataPairCollisionTpl<double> ResidualDataPairCollision;
334#endif
335
336typedef ImpulseModelAbstractTpl<double> ImpulseModelAbstract;
337typedef ImpulseDataAbstractTpl<double> ImpulseDataAbstract;
338
339enum ContactType {
340 ContactUndefined,
341 Contact1D,
342 Contact2D,
343 Contact3D,
344 Contact6D
345};
346enum ImpulseType { ImpulseUndefined, Impulse3D, Impulse6D };
347
348typedef ContactItemTpl<double> ContactItem;
349typedef ContactModelMultipleTpl<double> ContactModelMultiple;
350typedef ContactDataMultipleTpl<double> ContactDataMultiple;
351typedef ContactModel1DTpl<double> ContactModel1D;
352typedef ContactData1DTpl<double> ContactData1D;
353typedef ContactModel2DTpl<double> ContactModel2D;
354typedef ContactData2DTpl<double> ContactData2D;
355typedef ContactModel3DTpl<double> ContactModel3D;
356typedef ContactData3DTpl<double> ContactData3D;
357typedef ContactModel6DTpl<double> ContactModel6D;
358typedef ContactData6DTpl<double> ContactData6D;
359
360typedef StateMultibodyTpl<double> StateMultibody;
361
362typedef DataCollectorMultibodyTpl<double> DataCollectorMultibody;
363typedef DataCollectorActMultibodyTpl<double> DataCollectorActMultibody;
364typedef DataCollectorJointActMultibodyTpl<double>
365 DataCollectorJointActMultibody;
366typedef DataCollectorContactTpl<double> DataCollectorContact;
367typedef DataCollectorMultibodyInContactTpl<double>
368 DataCollectorMultibodyInContact;
369typedef DataCollectorActMultibodyInContactTpl<double>
370 DataCollectorActMultibodyInContact;
371typedef DataCollectorJointActMultibodyInContactTpl<double>
372 DataCollectorJointActMultibodyInContact;
373typedef DataCollectorImpulseTpl<double> DataCollectorImpulse;
374typedef DataCollectorMultibodyInImpulseTpl<double>
375 DataCollectorMultibodyInImpulse;
376
377typedef ImpulseModel6DTpl<double> ImpulseModel6D;
378typedef ImpulseData6DTpl<double> ImpulseData6D;
379typedef ImpulseModel3DTpl<double> ImpulseModel3D;
380typedef ImpulseData3DTpl<double> ImpulseData3D;
381typedef ImpulseItemTpl<double> ImpulseItem;
382typedef ImpulseModelMultipleTpl<double> ImpulseModelMultiple;
383typedef ImpulseDataMultipleTpl<double> ImpulseDataMultiple;
384
385} // namespace crocoddyl
386
387#endif // CROCODDYL_MULTIBODY_FWD_HPP_
crocoddyl::ActionModelImpulseFwdDynamicsTpl
Action model for impulse forward dynamics in multibody systems.
Definition impulse-fwddyn.hpp:60
crocoddyl::ActuationModelFloatingBaseThrustersTpl
Actuation models for floating base systems actuated with thrusters.
Definition floating-base-thrusters.hpp:137
crocoddyl::ActuationModelFloatingBaseTpl
Floating-base actuation model.
Definition floating-base.hpp:36
crocoddyl::ActuationModelFullTpl
Full actuation model.
Definition full.hpp:31
crocoddyl::CoPSupportTpl
This class encapsulates a center of pressure support of a 6d contact.
Definition cop-support.hpp:27
crocoddyl::ContactModelMultipleTpl
Define a stack of contact models.
Definition multiple-contacts.hpp:61
crocoddyl::CostModelNumDiffTpl
This class computes the numerical differentiation of a cost model.
Definition cost.hpp:32
crocoddyl::DifferentialActionModelContactFwdDynamicsTpl
Differential action model for contact forward dynamics in multibody systems.
Definition contact-fwddyn.hpp:73
crocoddyl::DifferentialActionModelContactInvDynamicsTpl
Differential action model for contact inverse dynamics in multibody systems.
Definition contact-invdyn.hpp:45
crocoddyl::DifferentialActionModelFreeFwdDynamicsTpl
Differential action model for free forward dynamics in multibody systems.
Definition free-fwddyn.hpp:52
crocoddyl::DifferentialActionModelFreeInvDynamicsTpl
Differential action model for free inverse dynamics in multibody systems.
Definition free-invdyn.hpp:40
crocoddyl::FrictionConeTpl
This class encapsulates a friction cone.
Definition friction-cone.hpp:28
crocoddyl::ImpulseModelMultipleTpl
Define a stack of impulse models.
Definition multiple-impulses.hpp:61
crocoddyl::ResidualModelContactCoPPositionTpl
Center of pressure residual function.
Definition contact-cop-position.hpp:67
crocoddyl::ResidualModelContactControlGravTpl
Control gravity residual under contact.
Definition contact-control-gravity.hpp:40
crocoddyl::ResidualModelContactForceTpl
Define a contact force residual function.
Definition contact-force.hpp:56
crocoddyl::ResidualModelContactWrenchConeTpl
Contact wrench cone residual function.
Definition contact-wrench-cone.hpp:55
crocoddyl::StateMultibodyTpl
State multibody representation.
Definition multibody.hpp:34
crocoddyl::WrenchConeTpl
This class encapsulates a wrench cone.
Definition wrench-cone.hpp:32
crocoddyl::ContactDataMultipleTpl
Define the multi-contact data.
Definition multiple-contacts.hpp:308
crocoddyl::ImpulseDataMultipleTpl
Define the multi-impulse data.
Definition multiple-impulses.hpp:273