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