Crocoddyl
 
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fwd.hpp
1
2// 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
14namespace crocoddyl {
15
16inline bool& enableMultithreading() {
17 static bool enable = true;
18 return enable;
19}
20
21enum AssignmentOp { setto, addto, rmfrom };
22
23inline bool is_a_AssignmentOp(AssignmentOp op) {
24 return (op == setto || op == addto || op == rmfrom);
25}
26
27// action
28template <typename Scalar>
29class ActionModelAbstractTpl;
30
31template <typename Scalar>
32struct ActionDataAbstractTpl;
33
34template <typename Scalar>
35class ActionModelUnicycleTpl;
36template <typename Scalar>
37struct ActionDataUnicycleTpl;
38
39template <typename Scalar>
40class ActionModelLQRTpl;
41template <typename Scalar>
42struct ActionDataLQRTpl;
43
44// differential action
45template <typename Scalar>
46class DifferentialActionModelAbstractTpl;
47template <typename Scalar>
48struct DifferentialActionDataAbstractTpl;
49
50template <typename Scalar>
51class DifferentialActionModelLQRTpl;
52template <typename Scalar>
53struct DifferentialActionDataLQRTpl;
54
55// integrated action
56template <typename Scalar>
57class IntegratedActionModelAbstractTpl;
58template <typename Scalar>
59struct IntegratedActionDataAbstractTpl;
60
61template <typename Scalar>
62class IntegratedActionModelEulerTpl;
63template <typename Scalar>
64struct IntegratedActionDataEulerTpl;
65
66template <typename Scalar>
67class IntegratedActionModelRKTpl;
68template <typename Scalar>
69struct IntegratedActionDataRKTpl;
70
71template <typename Scalar>
72class IntegratedActionModelRK4Tpl;
73template <typename Scalar>
74struct IntegratedActionDataRK4Tpl;
75
76// residual
77template <typename Scalar>
78class ResidualModelAbstractTpl;
79template <typename Scalar>
80struct ResidualDataAbstractTpl;
81
82// activation
83template <typename Scalar>
84struct ActivationBoundsTpl;
85template <typename Scalar>
86class ActivationModelQuadraticBarrierTpl;
87template <typename Scalar>
88struct ActivationDataQuadraticBarrierTpl;
89
90template <typename Scalar>
91class ActivationModelWeightedQuadraticBarrierTpl;
92
93template <typename Scalar>
94class ActivationModelQuadTpl;
95
96template <typename Scalar>
97class ActivationModelQuadFlatExpTpl;
98template <typename Scalar>
99struct ActivationDataQuadFlatExpTpl;
100
101template <typename Scalar>
102class ActivationModelQuadFlatLogTpl;
103template <typename Scalar>
104struct ActivationDataQuadFlatLogTpl;
105
106template <typename Scalar>
107class ActivationModelWeightedQuadTpl;
108template <typename Scalar>
109struct ActivationDataWeightedQuadTpl;
110
111template <typename Scalar>
112class ActivationModelSmooth1NormTpl;
113template <typename Scalar>
114struct ActivationDataSmooth1NormTpl;
115
116template <typename Scalar>
117class ActivationModelSmooth2NormTpl;
118template <typename Scalar>
119struct ActivationDataSmooth2NormTpl;
120
121template <typename Scalar>
122class ActivationModel2NormBarrierTpl;
123template <typename Scalar>
124struct ActivationData2NormBarrierTpl;
125
126template <typename Scalar>
127class ActivationModelAbstractTpl;
128template <typename Scalar>
129struct ActivationDataAbstractTpl;
130
131// state
132template <typename Scalar>
133class StateAbstractTpl;
134
135template <typename Scalar>
136class StateVectorTpl;
137
138// control
139template <typename Scalar>
140class ControlParametrizationModelAbstractTpl;
141template <typename Scalar>
142struct ControlParametrizationDataAbstractTpl;
143
144template <typename Scalar>
145class ControlParametrizationModelPolyZeroTpl;
146
147template <typename Scalar>
148class ControlParametrizationModelPolyOneTpl;
149template <typename Scalar>
150struct ControlParametrizationDataPolyOneTpl;
151
152template <typename Scalar>
153class ControlParametrizationModelPolyTwoRKTpl;
154template <typename Scalar>
155struct ControlParametrizationDataPolyTwoRKTpl;
156
157// actuation
158template <typename Scalar>
159class ActuationModelAbstractTpl;
160template <typename Scalar>
161struct ActuationDataAbstractTpl;
162
163template <typename Scalar>
164class ActuationSquashingModelTpl;
165template <typename Scalar>
166struct ActuationSquashingDataTpl;
167
168// squashing
169template <typename Scalar>
170class SquashingModelAbstractTpl;
171template <typename Scalar>
172struct SquashingDataAbstractTpl;
173
174template <typename Scalar>
175class SquashingModelSmoothSatTpl;
176
177// joint
178template <typename Scalar>
179struct JointDataAbstractTpl;
180
181// data collector
182template <typename Scalar>
183struct DataCollectorAbstractTpl;
184
185template <typename Scalar>
186struct DataCollectorActuationTpl;
187
188template <typename Scalar>
189struct DataCollectorJointTpl;
190
191template <typename Scalar>
192struct DataCollectorJointActuationTpl;
193
194// residual
195template <typename Scalar>
196class ResidualModelControlTpl;
197template <typename Scalar>
198struct ResidualDataControlTpl;
199
200template <typename Scalar>
201class ResidualModelJointEffortTpl;
202template <typename Scalar>
203struct ResidualDataJointEffortTpl;
204
205template <typename Scalar>
206class ResidualModelJointAccelerationTpl;
207template <typename Scalar>
208struct ResidualDataJointAccelerationTpl;
209
210// cost
211template <typename Scalar>
212class CostModelAbstractTpl;
213template <typename Scalar>
214struct CostDataAbstractTpl;
215
216template <typename Scalar>
217struct CostItemTpl;
218template <typename Scalar>
219class CostModelSumTpl;
220template <typename Scalar>
221struct CostDataSumTpl;
222
223template <typename Scalar>
224class CostModelResidualTpl;
225template <typename Scalar>
226struct CostDataResidualTpl;
227
228// constraint
229template <typename Scalar>
230class ConstraintModelAbstractTpl;
231template <typename Scalar>
232struct ConstraintDataAbstractTpl;
233
234template <typename Scalar>
235struct ConstraintItemTpl;
236template <typename Scalar>
237class ConstraintModelManagerTpl;
238template <typename Scalar>
239struct ConstraintDataManagerTpl;
240
241template <typename Scalar>
242class ConstraintModelResidualTpl;
243template <typename Scalar>
244struct ConstraintDataResidualTpl;
245
246// shooting
247template <typename Scalar>
248class ShootingProblemTpl;
249
250// Numdiff
251template <typename Scalar>
252class ActionModelNumDiffTpl;
253template <typename Scalar>
254struct ActionDataNumDiffTpl;
255
256template <typename Scalar>
257class DifferentialActionModelNumDiffTpl;
258template <typename Scalar>
259struct DifferentialActionDataNumDiffTpl;
260
261template <typename Scalar>
262class ActivationModelNumDiffTpl;
263template <typename Scalar>
264struct ActivationDataNumDiffTpl;
265
266template <typename Scalar>
267class ResidualModelNumDiffTpl;
268template <typename Scalar>
269struct ResidualDataNumDiffTpl;
270
271template <typename Scalar>
272class ConstraintModelNumDiffTpl;
273template <typename Scalar>
274struct ConstraintDataNumDiffTpl;
275
276template <typename Scalar>
277class StateNumDiffTpl;
278
279template <typename Scalar>
280class ControlParametrizationModelNumDiffTpl;
281template <typename Scalar>
282struct ControlParametrizationDataNumDiffTpl;
283
284template <typename Scalar>
285class ActuationModelNumDiffTpl;
286template <typename Scalar>
287struct ActuationDataNumDiffTpl;
288
289template <typename Scalar>
290class ActionModelCodeGenTpl;
291
292template <typename Scalar>
293struct ActionDataCodeGenTpl;
294
295/********************Template Instantiation*************/
296typedef ActionModelAbstractTpl<double> ActionModelAbstract;
297typedef ActionDataAbstractTpl<double> ActionDataAbstract;
298typedef ActionModelUnicycleTpl<double> ActionModelUnicycle;
299typedef ActionDataUnicycleTpl<double> ActionDataUnicycle;
300typedef ActionModelLQRTpl<double> ActionModelLQR;
301typedef ActionDataLQRTpl<double> ActionDataLQR;
302
303typedef DifferentialActionModelAbstractTpl<double>
304 DifferentialActionModelAbstract;
305typedef DifferentialActionDataAbstractTpl<double>
306 DifferentialActionDataAbstract;
307typedef DifferentialActionModelLQRTpl<double> DifferentialActionModelLQR;
308typedef DifferentialActionDataLQRTpl<double> DifferentialActionDataLQR;
309
310typedef IntegratedActionModelAbstractTpl<double> IntegratedActionModelAbstract;
311typedef IntegratedActionDataAbstractTpl<double> IntegratedActionDataAbstract;
312typedef IntegratedActionModelEulerTpl<double> IntegratedActionModelEuler;
313typedef IntegratedActionDataEulerTpl<double> IntegratedActionDataEuler;
314typedef IntegratedActionModelRKTpl<double> IntegratedActionModelRK;
315typedef IntegratedActionDataRKTpl<double> IntegratedActionDataRK;
316DEPRECATED(
317 "Use IntegratedActionModelRK",
318 typedef IntegratedActionModelRK4Tpl<double> IntegratedActionModelRK4;)
319DEPRECATED("Use IntegratedActionModelRK",
320 typedef IntegratedActionDataRK4Tpl<double> IntegratedActionDataRK4;)
321
322typedef ResidualModelAbstractTpl<double> ResidualModelAbstract;
323typedef ResidualDataAbstractTpl<double> ResidualDataAbstract;
324typedef ResidualModelControlTpl<double> ResidualModelControl;
325typedef ResidualDataControlTpl<double> ResidualDataControl;
326typedef ResidualModelJointEffortTpl<double> ResidualModelJointEffort;
327typedef ResidualDataJointEffortTpl<double> ResidualDataJointEffort;
328typedef ResidualModelJointAccelerationTpl<double>
329 ResidualModelJointAcceleration;
330typedef ResidualDataJointAccelerationTpl<double> ResidualDataJointAcceleration;
331
332typedef ActivationDataQuadraticBarrierTpl<double>
333 ActivationDataQuadraticBarrier;
334typedef ActivationModelQuadraticBarrierTpl<double>
335 ActivationModelQuadraticBarrier;
336typedef ActivationBoundsTpl<double> ActivationBounds;
337typedef ActivationModelWeightedQuadraticBarrierTpl<double>
338 ActivationModelWeightedQuadraticBarrier;
339typedef ActivationModelQuadTpl<double> ActivationModelQuad;
340typedef ActivationModelQuadFlatExpTpl<double> ActivationModelQuadFlatExp;
341typedef ActivationDataQuadFlatExpTpl<double> ActivationDataQuadFlatExp;
342typedef ActivationModelQuadFlatLogTpl<double> ActivationModelQuadFlatLog;
343typedef ActivationDataQuadFlatLogTpl<double> ActivationDataQuadFlatLog;
344typedef ActivationModelWeightedQuadTpl<double> ActivationModelWeightedQuad;
345typedef ActivationDataWeightedQuadTpl<double> ActivationDataWeightedQuad;
346DEPRECATED(
347 "Use ActivationModelSmooth1Norm",
348 typedef ActivationModelSmooth1NormTpl<double> ActivationModelSmoothAbs;)
349DEPRECATED(
350 "Use ActivationDataSmooth1Norm",
351 typedef ActivationDataSmooth1NormTpl<double> ActivationDataSmoothAbs;)
352typedef ActivationModelSmooth1NormTpl<double> ActivationModelSmooth1Norm;
353typedef ActivationDataSmooth1NormTpl<double> ActivationDataSmooth1Norm;
354typedef ActivationModelSmooth2NormTpl<double> ActivationModelSmooth2Norm;
355typedef ActivationDataSmooth2NormTpl<double> ActivationDataSmooth2Norm;
356typedef ActivationModel2NormBarrierTpl<double> ActivationModel2NormBarrier;
357typedef ActivationData2NormBarrierTpl<double> ActivationData2NormBarrier;
358typedef ActivationModelAbstractTpl<double> ActivationModelAbstract;
359typedef ActivationDataAbstractTpl<double> ActivationDataAbstract;
360
361typedef StateAbstractTpl<double> StateAbstract;
362typedef StateVectorTpl<double> StateVector;
363
364typedef ControlParametrizationModelAbstractTpl<double>
365 ControlParametrizationModelAbstract;
366typedef ControlParametrizationDataAbstractTpl<double>
367 ControlParametrizationDataAbstract;
368typedef ControlParametrizationModelPolyZeroTpl<double>
369 ControlParametrizationModelPolyZero;
370typedef ControlParametrizationModelPolyOneTpl<double>
371 ControlParametrizationModelPolyOne;
372typedef ControlParametrizationDataPolyOneTpl<double>
373 ControlParametrizationDataPolyOne;
374typedef ControlParametrizationModelPolyTwoRKTpl<double>
375 ControlParametrizationModelPolyTwoRK;
376typedef ControlParametrizationDataPolyTwoRKTpl<double>
377 ControlParametrizationDataPolyTwoRK;
378
379typedef ActuationDataAbstractTpl<double> ActuationDataAbstract;
380typedef ActuationModelAbstractTpl<double> ActuationModelAbstract;
381typedef ActuationSquashingDataTpl<double> ActuationSquashingData;
382typedef ActuationSquashingModelTpl<double> ActuationSquashingModel;
383
384typedef SquashingDataAbstractTpl<double> SquashingDataAbstract;
385typedef SquashingModelAbstractTpl<double> SquashingModelAbstract;
386typedef SquashingModelSmoothSatTpl<double> SquashingModelSmoothSat;
387
388typedef JointDataAbstractTpl<double> JointDataAbstract;
389
390typedef DataCollectorAbstractTpl<double> DataCollectorAbstract;
391typedef DataCollectorActuationTpl<double> DataCollectorActuation;
392typedef DataCollectorJointTpl<double> DataCollectorJoint;
393typedef DataCollectorJointActuationTpl<double> DataCollectorJointActuation;
394
395typedef CostModelAbstractTpl<double> CostModelAbstract;
396typedef CostDataAbstractTpl<double> CostDataAbstract;
397typedef CostItemTpl<double> CostItem;
398typedef CostModelSumTpl<double> CostModelSum;
399typedef CostDataSumTpl<double> CostDataSum;
400typedef CostModelResidualTpl<double> CostModelResidual;
401typedef CostDataResidualTpl<double> CostDataResidual;
402
403typedef ConstraintModelAbstractTpl<double> ConstraintModelAbstract;
404typedef ConstraintDataAbstractTpl<double> ConstraintDataAbstract;
405typedef ConstraintItemTpl<double> ConstraintItem;
406typedef ConstraintModelManagerTpl<double> ConstraintModelManager;
407typedef ConstraintDataManagerTpl<double> ConstraintDataManager;
408typedef ConstraintModelResidualTpl<double> ConstraintModelResidual;
409typedef ConstraintDataResidualTpl<double> ConstraintDataResidual;
410
411typedef ShootingProblemTpl<double> ShootingProblem;
412
413typedef ActionModelNumDiffTpl<double> ActionModelNumDiff;
414typedef ActionDataNumDiffTpl<double> ActionDataNumDiff;
415typedef ControlParametrizationModelNumDiffTpl<double>
416 ControlParametrizationModelNumDiff;
417typedef ControlParametrizationDataNumDiffTpl<double>
418 ControlParametrizationDataNumDiff;
419typedef DifferentialActionModelNumDiffTpl<double>
420 DifferentialActionModelNumDiff;
421typedef DifferentialActionDataNumDiffTpl<double> DifferentialActionDataNumDiff;
422typedef ActivationModelNumDiffTpl<double> ActivationModelNumDiff;
423typedef ActivationDataNumDiffTpl<double> ActivationDataNumDiff;
424typedef ResidualModelNumDiffTpl<double> ResidualModelNumDiff;
425typedef ResidualDataNumDiffTpl<double> ResidualDataNumDiff;
426typedef ConstraintModelNumDiffTpl<double> ConstraintModelNumDiff;
427typedef ConstraintDataNumDiffTpl<double> ConstraintDataNumDiff;
428typedef StateNumDiffTpl<double> StateNumDiff;
429typedef ActuationModelNumDiffTpl<double> ActuationModelNumDiff;
430typedef ActuationDataNumDiffTpl<double> ActuationDataNumDiff;
431
432typedef ActionModelCodeGenTpl<double> ActionModelCodeGen;
433typedef ActionDataCodeGenTpl<double> ActionDataCodeGen;
434
435} // namespace crocoddyl
436
437#endif // CROCODDYL_CORE_FWD_HPP_
crocoddyl::ActionModelAbstractTpl
Abstract class for action model.
Definition action-base.hpp:95
crocoddyl::ActionModelLQRTpl
Linear-quadratic regulator (LQR) action model.
Definition lqr.hpp:47
crocoddyl::ActionModelNumDiffTpl
This class computes the numerical differentiation of an action model.
Definition action.hpp:46
crocoddyl::ActuationModelAbstractTpl
Abstract class for the actuation-mapping model.
Definition actuation-base.hpp:45
crocoddyl::ActuationModelNumDiffTpl
This class computes the numerical differentiation of an actuation model.
Definition actuation.hpp:34
crocoddyl::ConstraintModelAbstractTpl
Abstract class for constraint models.
Definition constraint-base.hpp:50
crocoddyl::ConstraintModelManagerTpl
Manage the individual constraint models.
Definition constraint-manager.hpp:68
crocoddyl::ConstraintModelNumDiffTpl
This class computes the numerical differentiation of a constraint model.
Definition constraint.hpp:30
crocoddyl::ConstraintModelResidualTpl
Residual-based constraint.
Definition residual.hpp:47
crocoddyl::ControlParametrizationModelAbstractTpl
Abstract class for the control trajectory parametrization.
Definition control-base.hpp:44
crocoddyl::ControlParametrizationModelPolyOneTpl
A polynomial function of time of degree one, that is a linear function.
Definition poly-one.hpp:43
crocoddyl::ControlParametrizationModelPolyTwoRKTpl
A polynomial function of time of degree two, that is a quadratic function.
Definition poly-two-rk.hpp:52
crocoddyl::ControlParametrizationModelPolyZeroTpl
A polynomial function of time of degree zero, that is a constant.
Definition poly-zero.hpp:38
crocoddyl::CostModelAbstractTpl
Abstract class for cost models.
Definition cost-base.hpp:59
crocoddyl::CostModelResidualTpl
Residual-based cost.
Definition residual.hpp:39
crocoddyl::CostModelSumTpl
Summation of individual cost models.
Definition cost-sum.hpp:73
crocoddyl::DifferentialActionModelAbstractTpl
Abstract class for differential action model.
Definition diff-action-base.hpp:119
crocoddyl::DifferentialActionModelLQRTpl
Linear-quadratic regulator (LQR) differential action model.
Definition diff-lqr.hpp:48
crocoddyl::DifferentialActionModelNumDiffTpl
This class computes the numerical differentiation of a differential action model.
Definition diff-action.hpp:48
crocoddyl::IntegratedActionModelAbstractTpl
Abstract class for an integrated action model.
Definition integ-action-base.hpp:42
crocoddyl::IntegratedActionModelEulerTpl
Symplectic Euler integrator.
Definition euler.hpp:38
crocoddyl::IntegratedActionModelRK4Tpl
Standard RK4 integrator.
Definition rk4.hpp:38
crocoddyl::IntegratedActionModelRKTpl
Standard RK integrator.
Definition rk.hpp:40
crocoddyl::ResidualModelAbstractTpl
Abstract class for residual models.
Definition residual-base.hpp:44
crocoddyl::ResidualModelControlTpl
Define a control residual.
Definition control.hpp:35
crocoddyl::ResidualModelJointAccelerationTpl
Define a joint-acceleration residual.
Definition joint-acceleration.hpp:38
crocoddyl::ResidualModelJointEffortTpl
Define a joint-effort residual.
Definition joint-effort.hpp:36
crocoddyl::ResidualModelNumDiffTpl
This class computes the numerical differentiation of a residual model.
Definition residual.hpp:29
crocoddyl::ShootingProblemTpl
This class encapsulates a shooting problem.
Definition shooting.hpp:35
crocoddyl::StateAbstractTpl
Abstract class for the state representation.
Definition state-base.hpp:46