crocoddyl  1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
fwd.hpp
1 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2022, LAAS-CNRS, University of Edinburgh
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
8 
9 #ifndef CROCODDYL_CORE_FWD_HPP_
10 #define CROCODDYL_CORE_FWD_HPP_
11 
12 #include "crocoddyl/core/utils/deprecate.hpp"
13 
14 namespace crocoddyl {
15 
16 inline bool& enableMultithreading() {
17  static bool enable = true;
18  return enable;
19 }
20 
21 enum AssignmentOp { setto, addto, rmfrom };
22 
23 inline bool is_a_AssignmentOp(AssignmentOp op) { return (op == setto || op == addto || op == rmfrom); }
24 
25 // action
26 template <typename Scalar>
27 class ActionModelAbstractTpl;
28 
29 template <typename Scalar>
30 struct ActionDataAbstractTpl;
31 
32 template <typename Scalar>
33 class ActionModelUnicycleTpl;
34 template <typename Scalar>
35 struct ActionDataUnicycleTpl;
36 
37 template <typename Scalar>
38 class ActionModelLQRTpl;
39 template <typename Scalar>
40 struct ActionDataLQRTpl;
41 
42 // differential action
43 template <typename Scalar>
44 class DifferentialActionModelAbstractTpl;
45 template <typename Scalar>
46 struct DifferentialActionDataAbstractTpl;
47 
48 template <typename Scalar>
49 class DifferentialActionModelLQRTpl;
50 template <typename Scalar>
51 struct DifferentialActionDataLQRTpl;
52 
53 // integrated action
54 template <typename Scalar>
55 class IntegratedActionModelAbstractTpl;
56 template <typename Scalar>
57 struct IntegratedActionDataAbstractTpl;
58 
59 template <typename Scalar>
60 class IntegratedActionModelEulerTpl;
61 template <typename Scalar>
62 struct IntegratedActionDataEulerTpl;
63 
64 template <typename Scalar>
65 class IntegratedActionModelRKTpl;
66 template <typename Scalar>
67 struct IntegratedActionDataRKTpl;
68 
69 template <typename Scalar>
70 class IntegratedActionModelRK4Tpl;
71 template <typename Scalar>
72 struct IntegratedActionDataRK4Tpl;
73 
74 // residual
75 template <typename Scalar>
76 class ResidualModelAbstractTpl;
77 template <typename Scalar>
78 struct ResidualDataAbstractTpl;
79 
80 // activation
81 template <typename Scalar>
82 struct ActivationBoundsTpl;
83 template <typename Scalar>
84 class ActivationModelQuadraticBarrierTpl;
85 template <typename Scalar>
86 struct ActivationDataQuadraticBarrierTpl;
87 
88 template <typename Scalar>
89 class ActivationModelWeightedQuadraticBarrierTpl;
90 
91 template <typename Scalar>
92 class ActivationModelQuadTpl;
93 
94 template <typename Scalar>
95 class ActivationModelQuadFlatExpTpl;
96 template <typename Scalar>
97 struct ActivationDataQuadFlatExpTpl;
98 
99 template <typename Scalar>
100 class ActivationModelQuadFlatLogTpl;
101 template <typename Scalar>
102 struct ActivationDataQuadFlatLogTpl;
103 
104 template <typename Scalar>
105 class ActivationModelWeightedQuadTpl;
106 template <typename Scalar>
107 struct ActivationDataWeightedQuadTpl;
108 
109 template <typename Scalar>
110 class ActivationModelSmooth1NormTpl;
111 template <typename Scalar>
112 struct ActivationDataSmooth1NormTpl;
113 
114 template <typename Scalar>
115 class ActivationModelSmooth2NormTpl;
116 template <typename Scalar>
117 struct ActivationDataSmooth2NormTpl;
118 
119 template <typename Scalar>
120 class ActivationModel2NormBarrierTpl;
121 template <typename Scalar>
122 struct ActivationData2NormBarrierTpl;
123 
124 template <typename Scalar>
125 class ActivationModelAbstractTpl;
126 template <typename Scalar>
127 struct ActivationDataAbstractTpl;
128 
129 // state
130 template <typename Scalar>
131 class StateAbstractTpl;
132 
133 template <typename Scalar>
134 class StateVectorTpl;
135 
136 // control
137 template <typename Scalar>
138 class ControlParametrizationModelAbstractTpl;
139 template <typename Scalar>
140 struct ControlParametrizationDataAbstractTpl;
141 
142 template <typename Scalar>
143 class ControlParametrizationModelPolyZeroTpl;
144 
145 template <typename Scalar>
146 class ControlParametrizationModelPolyOneTpl;
147 template <typename Scalar>
148 struct ControlParametrizationDataPolyOneTpl;
149 
150 template <typename Scalar>
151 class ControlParametrizationModelPolyTwoRKTpl;
152 template <typename Scalar>
153 struct ControlParametrizationDataPolyTwoRKTpl;
154 
155 // actuation
156 template <typename Scalar>
157 class ActuationModelAbstractTpl;
158 template <typename Scalar>
159 struct ActuationDataAbstractTpl;
160 
161 template <typename Scalar>
162 class ActuationSquashingModelTpl;
163 template <typename Scalar>
164 struct ActuationSquashingDataTpl;
165 
166 // squashing
167 template <typename Scalar>
168 class SquashingModelAbstractTpl;
169 template <typename Scalar>
170 struct SquashingDataAbstractTpl;
171 
172 template <typename Scalar>
173 class SquashingModelSmoothSatTpl;
174 
175 // data collector
176 template <typename Scalar>
177 struct DataCollectorAbstractTpl;
178 
179 template <typename Scalar>
180 struct DataCollectorActuationTpl;
181 
182 // residual
183 template <typename Scalar>
184 class ResidualModelControlTpl;
185 template <typename Scalar>
186 struct ResidualDataControlTpl;
187 
188 // cost
189 template <typename Scalar>
190 class CostModelAbstractTpl;
191 template <typename Scalar>
192 struct CostDataAbstractTpl;
193 
194 template <typename Scalar>
195 struct CostItemTpl;
196 template <typename Scalar>
197 class CostModelSumTpl;
198 template <typename Scalar>
199 struct CostDataSumTpl;
200 
201 template <typename Scalar>
202 class CostModelResidualTpl;
203 template <typename Scalar>
204 struct CostDataResidualTpl;
205 
206 template <typename Scalar>
207 class CostModelControlTpl;
208 
209 // shooting
210 template <typename Scalar>
211 class ShootingProblemTpl;
212 
213 // Numdiff
214 template <typename Scalar>
215 class ActionModelNumDiffTpl;
216 template <typename Scalar>
217 struct ActionDataNumDiffTpl;
218 
219 template <typename Scalar>
220 class DifferentialActionModelNumDiffTpl;
221 template <typename Scalar>
222 struct DifferentialActionDataNumDiffTpl;
223 
224 template <typename Scalar>
225 class ActivationModelNumDiffTpl;
226 template <typename Scalar>
227 struct ActivationDataNumDiffTpl;
228 
229 template <typename Scalar>
230 class ResidualModelNumDiffTpl;
231 template <typename Scalar>
232 struct ResidualDataNumDiffTpl;
233 
234 template <typename Scalar>
235 class StateNumDiffTpl;
236 
237 template <typename Scalar>
238 class ControlParametrizationModelNumDiffTpl;
239 template <typename Scalar>
240 struct ControlParametrizationDataNumDiffTpl;
241 
242 template <typename Scalar>
243 class ActuationModelNumDiffTpl;
244 template <typename Scalar>
245 struct ActuationDataNumDiffTpl;
246 
247 template <typename Scalar>
248 class ActionModelCodeGenTpl;
249 
250 template <typename Scalar>
251 struct ActionDataCodeGenTpl;
252 
253 /********************Template Instantiation*************/
254 typedef ActionModelAbstractTpl<double> ActionModelAbstract;
255 typedef ActionDataAbstractTpl<double> ActionDataAbstract;
256 typedef ActionModelUnicycleTpl<double> ActionModelUnicycle;
257 typedef ActionDataUnicycleTpl<double> ActionDataUnicycle;
258 typedef ActionModelLQRTpl<double> ActionModelLQR;
259 typedef ActionDataLQRTpl<double> ActionDataLQR;
260 
261 typedef DifferentialActionModelAbstractTpl<double> DifferentialActionModelAbstract;
262 typedef DifferentialActionDataAbstractTpl<double> DifferentialActionDataAbstract;
263 typedef DifferentialActionModelLQRTpl<double> DifferentialActionModelLQR;
264 typedef DifferentialActionDataLQRTpl<double> DifferentialActionDataLQR;
265 
266 typedef IntegratedActionModelAbstractTpl<double> IntegratedActionModelAbstract;
267 typedef IntegratedActionDataAbstractTpl<double> IntegratedActionDataAbstract;
268 typedef IntegratedActionModelEulerTpl<double> IntegratedActionModelEuler;
269 typedef IntegratedActionDataEulerTpl<double> IntegratedActionDataEuler;
270 typedef IntegratedActionModelRKTpl<double> IntegratedActionModelRK;
271 typedef IntegratedActionDataRKTpl<double> IntegratedActionDataRK;
272 DEPRECATED("Use IntegratedActionModelRK", typedef IntegratedActionModelRK4Tpl<double> IntegratedActionModelRK4;)
273 DEPRECATED("Use IntegratedActionModelRK", typedef IntegratedActionDataRK4Tpl<double> IntegratedActionDataRK4;)
274 
275 typedef ResidualModelAbstractTpl<double> ResidualModelAbstract;
276 typedef ResidualDataAbstractTpl<double> ResidualDataAbstract;
277 typedef ResidualModelControlTpl<double> ResidualModelControl;
278 typedef ResidualDataControlTpl<double> ResidualDataControl;
279 
280 typedef ActivationDataQuadraticBarrierTpl<double> ActivationDataQuadraticBarrier;
281 typedef ActivationModelQuadraticBarrierTpl<double> ActivationModelQuadraticBarrier;
282 typedef ActivationBoundsTpl<double> ActivationBounds;
283 typedef ActivationModelWeightedQuadraticBarrierTpl<double> ActivationModelWeightedQuadraticBarrier;
284 typedef ActivationModelQuadTpl<double> ActivationModelQuad;
285 typedef ActivationModelQuadFlatExpTpl<double> ActivationModelQuadFlatExp;
286 typedef ActivationDataQuadFlatExpTpl<double> ActivationDataQuadFlatExp;
287 typedef ActivationModelQuadFlatLogTpl<double> ActivationModelQuadFlatLog;
288 typedef ActivationDataQuadFlatLogTpl<double> ActivationDataQuadFlatLog;
289 typedef ActivationModelWeightedQuadTpl<double> ActivationModelWeightedQuad;
290 typedef ActivationDataWeightedQuadTpl<double> ActivationDataWeightedQuad;
291 DEPRECATED("Use ActivationModelSmooth1Norm", typedef ActivationModelSmooth1NormTpl<double> ActivationModelSmoothAbs;)
292 DEPRECATED("Use ActivationDataSmooth1Norm", typedef ActivationDataSmooth1NormTpl<double> ActivationDataSmoothAbs;)
293 typedef ActivationModelSmooth1NormTpl<double> ActivationModelSmooth1Norm;
294 typedef ActivationDataSmooth1NormTpl<double> ActivationDataSmooth1Norm;
295 typedef ActivationModelSmooth2NormTpl<double> ActivationModelSmooth2Norm;
296 typedef ActivationDataSmooth2NormTpl<double> ActivationDataSmooth2Norm;
297 typedef ActivationModel2NormBarrierTpl<double> ActivationModel2NormBarrier;
298 typedef ActivationData2NormBarrierTpl<double> ActivationData2NormBarrier;
299 typedef ActivationModelAbstractTpl<double> ActivationModelAbstract;
300 typedef ActivationDataAbstractTpl<double> ActivationDataAbstract;
301 
302 typedef StateAbstractTpl<double> StateAbstract;
303 typedef StateVectorTpl<double> StateVector;
304 
305 typedef ControlParametrizationModelAbstractTpl<double> ControlParametrizationModelAbstract;
306 typedef ControlParametrizationDataAbstractTpl<double> ControlParametrizationDataAbstract;
307 typedef ControlParametrizationModelPolyZeroTpl<double> ControlParametrizationModelPolyZero;
308 typedef ControlParametrizationModelPolyOneTpl<double> ControlParametrizationModelPolyOne;
309 typedef ControlParametrizationDataPolyOneTpl<double> ControlParametrizationDataPolyOne;
310 typedef ControlParametrizationModelPolyTwoRKTpl<double> ControlParametrizationModelPolyTwoRK;
311 typedef ControlParametrizationDataPolyTwoRKTpl<double> ControlParametrizationDataPolyTwoRK;
312 
313 typedef ActuationDataAbstractTpl<double> ActuationDataAbstract;
314 typedef ActuationModelAbstractTpl<double> ActuationModelAbstract;
315 typedef ActuationSquashingDataTpl<double> ActuationSquashingData;
316 typedef ActuationSquashingModelTpl<double> ActuationSquashingModel;
317 
318 typedef SquashingDataAbstractTpl<double> SquashingDataAbstract;
319 typedef SquashingModelAbstractTpl<double> SquashingModelAbstract;
320 typedef SquashingModelSmoothSatTpl<double> SquashingModelSmoothSat;
321 
322 typedef DataCollectorAbstractTpl<double> DataCollectorAbstract;
323 typedef DataCollectorActuationTpl<double> DataCollectorActuation;
324 
325 typedef CostModelAbstractTpl<double> CostModelAbstract;
326 typedef CostDataAbstractTpl<double> CostDataAbstract;
327 typedef CostItemTpl<double> CostItem;
328 typedef CostModelSumTpl<double> CostModelSum;
329 typedef CostDataSumTpl<double> CostDataSum;
330 typedef CostModelResidualTpl<double> CostModelResidual;
331 typedef CostDataResidualTpl<double> CostDataResidual;
332 DEPRECATED("Use ResidualModelControl with CostModelResidual", typedef CostModelControlTpl<double> CostModelControl;)
333 
334 typedef ShootingProblemTpl<double> ShootingProblem;
335 
336 typedef ActionModelNumDiffTpl<double> ActionModelNumDiff;
337 typedef ActionDataNumDiffTpl<double> ActionDataNumDiff;
338 typedef ControlParametrizationModelNumDiffTpl<double> ControlParametrizationModelNumDiff;
339 typedef ControlParametrizationDataNumDiffTpl<double> ControlParametrizationDataNumDiff;
340 typedef DifferentialActionModelNumDiffTpl<double> DifferentialActionModelNumDiff;
341 typedef DifferentialActionDataNumDiffTpl<double> DifferentialActionDataNumDiff;
342 typedef ActivationModelNumDiffTpl<double> ActivationModelNumDiff;
343 typedef ActivationDataNumDiffTpl<double> ActivationDataNumDiff;
344 typedef ResidualModelNumDiffTpl<double> ResidualModelNumDiff;
345 typedef ResidualDataNumDiffTpl<double> ResidualDataNumDiff;
346 typedef StateNumDiffTpl<double> StateNumDiff;
347 typedef ActuationModelNumDiffTpl<double> ActuationModelNumDiff;
348 typedef ActuationDataNumDiffTpl<double> ActuationDataNumDiff;
349 
350 typedef ActionModelCodeGenTpl<double> ActionModelCodeGen;
351 typedef ActionDataCodeGenTpl<double> ActionDataCodeGen;
352 
353 } // namespace crocoddyl
354 
355 #endif // CROCODDYL_CORE_FWD_HPP_
crocoddyl::DifferentialActionDataLQRTpl
Definition: diff-lqr.hpp:91
crocoddyl::ActionDataAbstractTpl
Definition: action-base.hpp:236
crocoddyl::ActuationSquashingModelTpl
Definition: actuation-squashing.hpp:19
crocoddyl::ActivationModelWeightedQuadraticBarrierTpl
Definition: weighted-quadratic-barrier.hpp:20
crocoddyl::CostModelResidualTpl
Residual-based cost.
Definition: residual.hpp:36
crocoddyl::DataCollectorAbstractTpl
Definition: data-collector-base.hpp:18
crocoddyl::ActivationDataSmooth2NormTpl
Definition: fwd.hpp:117
crocoddyl::ActuationModelAbstractTpl
Abstract class for the actuation-mapping model.
Definition: actuation-base.hpp:39
crocoddyl::ActivationDataQuadFlatExpTpl
Definition: quadratic-flat-exp.hpp:136
crocoddyl::ActionModelUnicycleTpl
Definition: unicycle.hpp:20
crocoddyl::ActivationModelQuadraticBarrierTpl
Definition: quadratic-barrier.hpp:86
crocoddyl::CostModelControlTpl
Control cost.
Definition: control.hpp:35
crocoddyl::CostDataSumTpl
Definition: cost-sum.hpp:241
crocoddyl::ControlParametrizationModelAbstractTpl
Abstract class for the control trajectory parametrization.
Definition: control-base.hpp:40
crocoddyl::DifferentialActionModelNumDiffTpl
This class computes the numerical differentiation of a differential action model.
Definition: fwd.hpp:220
crocoddyl::ControlParametrizationModelNumDiffTpl
Definition: fwd.hpp:238
crocoddyl::CostModelAbstractTpl
Abstract class for cost models.
Definition: cost-base.hpp:49
crocoddyl::ActivationModelSmooth2NormTpl
Smooth-2Norm activation.
Definition: smooth-2norm.hpp:33
crocoddyl::ActivationDataQuadFlatLogTpl
Definition: quadratic-flat-log.hpp:134
crocoddyl::ControlParametrizationDataPolyTwoRKTpl
Definition: poly-two-rk.hpp:154
crocoddyl::ShootingProblemTpl
This class encapsulates a shooting problem.
Definition: fwd.hpp:211
crocoddyl::ResidualModelControlTpl
Define a control residual.
Definition: fwd.hpp:184
crocoddyl::ActivationData2NormBarrierTpl
Definition: 2norm-barrier.hpp:149
crocoddyl::ActivationModelQuadTpl
Definition: quadratic.hpp:20
crocoddyl::CostModelSumTpl
Summation of individual cost models.
Definition: cost-sum.hpp:65
crocoddyl::IntegratedActionModelEulerTpl
Symplectic Euler integrator.
Definition: fwd.hpp:60
crocoddyl::ActivationBoundsTpl
Definition: quadratic-barrier.hpp:23
crocoddyl::ActionModelLQRTpl
Definition: lqr.hpp:21
crocoddyl::ActionDataCodeGenTpl
Definition: action-base.hpp:21
crocoddyl::DifferentialActionModelLQRTpl
Definition: diff-lqr.hpp:21
crocoddyl::DataCollectorActuationTpl
Definition: actuation.hpp:21
crocoddyl::CostItemTpl
Definition: cost-sum.hpp:23
crocoddyl::ControlParametrizationModelPolyOneTpl
A polynomial function of time of degree one, that is a linear function.
Definition: poly-one.hpp:37
crocoddyl::ResidualDataNumDiffTpl
Definition: fwd.hpp:232
crocoddyl::ActivationModelQuadFlatExpTpl
Definition: quadratic-flat-exp.hpp:34
crocoddyl::ResidualModelNumDiffTpl
This class computes the numerical differentiation of a residual model.
Definition: fwd.hpp:230
crocoddyl::SquashingModelAbstractTpl
Definition: squashing-base.hpp:23
crocoddyl::DifferentialActionDataAbstractTpl
Definition: diff-action-base.hpp:231
crocoddyl::IntegratedActionModelAbstractTpl
Abstract class for an integrated action model.
Definition: fwd.hpp:55
crocoddyl::StateVectorTpl
Definition: fwd.hpp:134
crocoddyl::ActionModelAbstractTpl
Abstract class for action model.
Definition: action-base.hpp:59
crocoddyl::IntegratedActionDataRK4Tpl
Definition: fwd.hpp:72
crocoddyl::ResidualDataControlTpl
Definition: fwd.hpp:186
crocoddyl::ActuationDataNumDiffTpl
Definition: fwd.hpp:245
crocoddyl::ActivationModelWeightedQuadTpl
Definition: weighted-quadratic.hpp:21
crocoddyl::ActivationDataWeightedQuadTpl
Definition: weighted-quadratic.hpp:108
crocoddyl::ResidualDataAbstractTpl
Definition: fwd.hpp:78
crocoddyl::SquashingModelSmoothSatTpl
Definition: smooth-sat.hpp:22
crocoddyl::ActionDataNumDiffTpl
Definition: fwd.hpp:217
crocoddyl::ActivationModelNumDiffTpl
Definition: fwd.hpp:225
crocoddyl::ControlParametrizationDataAbstractTpl
Definition: control-base.hpp:168
crocoddyl::ActionModelNumDiffTpl
This class computes the numerical differentiation of an action model.
Definition: fwd.hpp:215
crocoddyl::ActionDataUnicycleTpl
Definition: unicycle.hpp:67
crocoddyl::CostDataAbstractTpl
Definition: cost-base.hpp:248
crocoddyl::StateNumDiffTpl
Definition: fwd.hpp:235
crocoddyl::IntegratedActionModelRKTpl
Standard RK integrator.
Definition: fwd.hpp:65
crocoddyl::ActionModelCodeGenTpl
Definition: action-base.hpp:24
crocoddyl::CostDataResidualTpl
Definition: residual.hpp:136
crocoddyl::ActivationModelSmooth1NormTpl
Smooth-abs activation.
Definition: smooth-1norm.hpp:34
crocoddyl::ActivationDataNumDiffTpl
Definition: fwd.hpp:227
crocoddyl::ActionDataLQRTpl
Definition: lqr.hpp:86
crocoddyl::ActuationDataAbstractTpl
Definition: actuation-base.hpp:138
crocoddyl::ActivationDataSmooth1NormTpl
Definition: smooth-1norm.hpp:125
crocoddyl::ActivationModel2NormBarrierTpl
2-norm barrier activation
Definition: 2norm-barrier.hpp:39
crocoddyl::DifferentialActionModelAbstractTpl
Abstract class for differential action model.
Definition: diff-action-base.hpp:53
crocoddyl::IntegratedActionDataRKTpl
Definition: fwd.hpp:67
crocoddyl::ActivationModelQuadFlatLogTpl
Quadratic-flat-log activation.
Definition: quadratic-flat-log.hpp:33
crocoddyl::ControlParametrizationModelPolyTwoRKTpl
A polynomial function of time of degree two, that is a quadratic function.
Definition: poly-two-rk.hpp:44
crocoddyl::IntegratedActionDataEulerTpl
Definition: fwd.hpp:62
crocoddyl::ControlParametrizationModelPolyZeroTpl
A polynomial function of time of degree zero, that is a constant.
Definition: poly-zero.hpp:32
crocoddyl::StateAbstractTpl
Abstract class for the state representation.
Definition: fwd.hpp:131
crocoddyl::ActivationDataQuadraticBarrierTpl
Definition: quadratic-barrier.hpp:156
crocoddyl::DifferentialActionDataNumDiffTpl
Definition: fwd.hpp:222
crocoddyl::ActivationModelAbstractTpl
Definition: activation-base.hpp:23
crocoddyl::IntegratedActionModelRK4Tpl
Standard RK4 integrator.
Definition: fwd.hpp:70
crocoddyl::IntegratedActionDataAbstractTpl
Definition: fwd.hpp:57
crocoddyl::ActuationSquashingDataTpl
Definition: actuation-squashing.hpp:70
crocoddyl::ControlParametrizationDataPolyOneTpl
Definition: poly-one.hpp:143
crocoddyl::ControlParametrizationDataNumDiffTpl
Definition: fwd.hpp:240
crocoddyl::ResidualModelAbstractTpl
Abstract class for residual models.
Definition: fwd.hpp:76
crocoddyl::ActivationDataAbstractTpl
Definition: activation-base.hpp:65
crocoddyl::SquashingDataAbstractTpl
Definition: squashing-base.hpp:62
crocoddyl::ActuationModelNumDiffTpl
This class computes the numerical differentiation of an actuation model.
Definition: fwd.hpp:243