crocoddyl  1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
fwd.hpp
1 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2021, LAAS-CNRS, University of Edinburgh, INRIA
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
8 
9 #ifndef CROCODDYL_MULTIBODY_FWD_HPP_
10 #define CROCODDYL_MULTIBODY_FWD_HPP_
11 
12 #include "crocoddyl/core/utils/deprecate.hpp"
13 #include "crocoddyl/core/costs/residual.hpp"
14 
15 namespace crocoddyl {
16 
17 // actuation
18 template <typename Scalar>
19 class ActuationModelFloatingBaseTpl;
20 
21 template <typename Scalar>
22 class ActuationModelFullTpl;
23 
24 template <typename Scalar>
25 class ActuationModelMultiCopterBaseTpl;
26 
27 // force
28 template <typename Scala>
29 struct ForceDataAbstractTpl;
30 
31 // contact
32 template <typename Scalar>
33 class ContactModelAbstractTpl;
34 template <typename Scalar>
35 struct ContactDataAbstractTpl;
36 
37 // action
38 template <typename Scalar>
39 class ActionModelImpulseFwdDynamicsTpl;
40 template <typename Scalar>
41 struct ActionDataImpulseFwdDynamicsTpl;
42 
43 // differential action
44 template <typename Scalar>
45 class DifferentialActionModelFreeFwdDynamicsTpl;
46 template <typename Scalar>
47 struct DifferentialActionDataFreeFwdDynamicsTpl;
48 
49 template <typename Scalar>
50 class DifferentialActionModelContactFwdDynamicsTpl;
51 template <typename Scalar>
52 struct DifferentialActionDataContactFwdDynamicsTpl;
53 
54 // numdiff
55 template <typename Scalar>
56 class CostModelNumDiffTpl;
57 template <typename Scalar>
58 struct CostDataNumDiffTpl;
59 
60 template <typename Scalar>
61 class ContactModelNumDiffTpl;
62 template <typename Scalar>
63 struct ContactDataNumDiffTpl;
64 
65 // frame
66 template <typename Scalar>
67 struct FrameTranslationTpl;
68 
69 template <typename Scalar>
70 struct FrameRotationTpl;
71 
72 template <typename Scalar>
73 struct FramePlacementTpl;
74 
75 template <typename Scalar>
76 struct FrameMotionTpl;
77 
78 template <typename Scalar>
79 struct FrameForceTpl;
80 
81 template <typename Scalar>
82 struct FrameFrictionConeTpl;
83 
84 template <typename Scalar>
85 struct FrameWrenchConeTpl;
86 
87 template <typename Scalar>
88 struct FrameCoPSupportTpl;
89 
90 // residual
91 template <typename Scalar>
92 class ResidualModelCentroidalMomentumTpl;
93 template <typename Scalar>
94 struct ResidualDataCentroidalMomentumTpl;
95 
96 template <typename Scalar>
97 class ResidualModelCoMPositionTpl;
98 template <typename Scalar>
99 struct ResidualDataCoMPositionTpl;
100 
101 template <typename Scalar>
102 class ResidualModelContactForceTpl;
103 template <typename Scalar>
104 struct ResidualDataContactForceTpl;
105 
106 template <typename Scalar>
107 class ResidualModelContactFrictionConeTpl;
108 template <typename Scalar>
109 struct ResidualDataContactFrictionConeTpl;
110 
111 template <typename Scalar>
112 class ResidualModelContactCoPPositionTpl;
113 template <typename Scalar>
114 struct ResidualDataContactCoPPositionTpl;
115 
116 template <typename Scalar>
117 class ResidualModelContactWrenchConeTpl;
118 template <typename Scalar>
119 struct ResidualDataContactWrenchConeTpl;
120 
121 template <typename Scalar>
122 class ResidualModelContactControlGravTpl;
123 template <typename Scalar>
124 struct ResidualDataContactControlGravTpl;
125 
126 template <typename Scalar>
127 class ResidualModelControlGravTpl;
128 template <typename Scalar>
129 struct ResidualDataControlGravTpl;
130 
131 template <typename Scalar>
132 class ResidualModelFramePlacementTpl;
133 template <typename Scalar>
134 struct ResidualDataFramePlacementTpl;
135 
136 template <typename Scalar>
137 class ResidualModelFrameRotationTpl;
138 template <typename Scalar>
139 struct ResidualDataFrameRotationTpl;
140 
141 template <typename Scalar>
142 class ResidualModelFrameTranslationTpl;
143 template <typename Scalar>
144 struct ResidualDataFrameTranslationTpl;
145 
146 template <typename Scalar>
147 class ResidualModelFrameVelocityTpl;
148 template <typename Scalar>
149 struct ResidualDataFrameVelocityTpl;
150 
151 template <typename Scalar>
152 class ResidualModelImpulseCoMTpl;
153 template <typename Scalar>
154 struct ResidualDataImpulseCoMTpl;
155 
156 template <typename Scalar>
157 class ResidualModelStateTpl;
158 template <typename Scalar>
159 struct ResidualDataStateTpl;
160 
161 #ifdef PINOCCHIO_WITH_HPP_FCL
162 template <typename Scalar>
163 class ResidualModelPairCollisionTpl;
164 template <typename Scalar>
165 struct ResidualDataPairCollisionTpl;
166 #endif
167 // cost
168 template <typename Scalar>
169 class CostModelFrameTranslationTpl;
170 
171 template <typename Scalar>
172 using CostDataFrameTranslationTpl = CostDataResidualTpl<Scalar>;
173 
174 template <typename Scalar>
175 class CostModelCentroidalMomentumTpl;
176 template <typename Scalar>
177 using CostDataCentroidalMomentumTpl = CostDataResidualTpl<Scalar>;
178 
179 template <typename Scalar>
180 class CostModelCoMPositionTpl;
181 template <typename Scalar>
182 using CostDataCoMPositionTpl = CostDataResidualTpl<Scalar>;
183 
184 template <typename Scalar>
185 class CostModelFramePlacementTpl;
186 template <typename Scalar>
187 using CostDataFramePlacementTpl = CostDataResidualTpl<Scalar>;
188 
189 template <typename Scalar>
190 class CostModelImpulseCoMTpl;
191 template <typename Scalar>
192 using CostDataImpulseCoMTpl = CostDataResidualTpl<Scalar>;
193 
194 template <typename Scalar>
195 class CostModelStateTpl;
196 template <typename Scalar>
197 using CostDataStateTpl = CostDataResidualTpl<Scalar>;
198 
199 template <typename Scalar>
200 class CostModelControlGravTpl;
201 template <typename Scalar>
202 using CostDataControlGravTpl = CostDataResidualTpl<Scalar>;
203 
204 template <typename Scalar>
205 class CostModelControlGravContactTpl;
206 template <typename Scalar>
207 using CostDataControlGravContactTpl = CostDataResidualTpl<Scalar>;
208 
209 template <typename Scalar>
210 class CostModelFrameVelocityTpl;
211 template <typename Scalar>
212 using CostDataFrameVelocityTpl = CostDataResidualTpl<Scalar>;
213 
214 template <typename Scalar>
215 class CostModelContactFrictionConeTpl;
216 template <typename Scalar>
217 using CostDataContactFrictionConeTpl = CostDataResidualTpl<Scalar>;
218 
219 template <typename Scalar>
220 class CostModelContactWrenchConeTpl;
221 template <typename Scalar>
222 using CostDataContactWrenchConeTpl = CostDataResidualTpl<Scalar>;
223 
224 template <typename Scalar>
225 class CostModelContactForceTpl;
226 template <typename Scalar>
227 using CostDataContactForceTpl = CostDataResidualTpl<Scalar>;
228 
229 template <typename Scalar>
230 class CostModelContactImpulseTpl;
231 template <typename Scalar>
232 using CostDataContactImpulseTpl = CostDataResidualTpl<Scalar>;
233 
234 template <typename Scalar>
235 class CostModelFrameRotationTpl;
236 template <typename Scalar>
237 using CostDataFrameRotationTpl = CostDataResidualTpl<Scalar>;
238 
239 template <typename Scalar>
240 class CostModelImpulseFrictionConeTpl;
241 template <typename Scalar>
242 using CostDataImpulseFrictionConeTpl = CostDataResidualTpl<Scalar>;
243 
244 template <typename Scalar>
245 class CostModelImpulseWrenchConeTpl;
246 template <typename Scalar>
247 using CostDataImpulseWrenchConeTpl = CostDataResidualTpl<Scalar>;
248 
249 template <typename Scalar>
250 class CostModelContactCoPPositionTpl;
251 template <typename Scalar>
252 using CostDataContactCoPPositionTpl = CostDataResidualTpl<Scalar>;
253 
254 template <typename Scalar>
255 class CostModelImpulseCoPPositionTpl;
256 template <typename Scalar>
257 using CostDataImpulseCoPPositionTpl = CostDataResidualTpl<Scalar>;
258 
259 // impulse
260 template <typename Scalar>
261 class ImpulseModelAbstractTpl;
262 template <typename Scalar>
263 struct ImpulseDataAbstractTpl;
264 
265 // contact
266 template <typename Scalar>
267 struct ContactItemTpl;
268 template <typename Scalar>
269 class ContactModelMultipleTpl;
270 template <typename Scalar>
271 struct ContactDataMultipleTpl;
272 
273 template <typename Scalar>
274 class ContactModel1DTpl;
275 template <typename Scalar>
276 struct ContactData1DTpl;
277 
278 template <typename Scalar>
279 class ContactModel2DTpl;
280 template <typename Scalar>
281 struct ContactData2DTpl;
282 
283 template <typename Scalar>
284 class ContactModel3DTpl;
285 template <typename Scalar>
286 struct ContactData3DTpl;
287 
288 template <typename Scalar>
289 class ContactModel6DTpl;
290 template <typename Scalar>
291 struct ContactData6DTpl;
292 
293 // friction
294 template <typename Scalar>
295 class FrictionConeTpl;
296 template <typename Scalar>
297 class WrenchConeTpl;
298 
299 // cop support
300 template <typename Scalar>
301 class CoPSupportTpl;
302 
303 // state
304 template <typename Scalar>
305 class StateMultibodyTpl;
306 
307 // data collector
308 template <typename Scalar>
309 struct DataCollectorMultibodyTpl;
310 
311 template <typename Scalar>
312 struct DataCollectorActMultibodyTpl;
313 
314 template <typename Scalar>
315 struct DataCollectorContactTpl;
316 
317 template <typename Scalar>
318 struct DataCollectorMultibodyInContactTpl;
319 
320 template <typename Scalar>
321 struct DataCollectorActMultibodyInContactTpl;
322 
323 template <typename Scalar>
324 struct DataCollectorImpulseTpl;
325 
326 template <typename Scalar>
327 struct DataCollectorMultibodyInImpulseTpl;
328 
329 // impulse
330 template <typename Scalar>
331 class ImpulseModel6DTpl;
332 template <typename Scalar>
333 struct ImpulseData6DTpl;
334 
335 template <typename Scalar>
336 class ImpulseModel3DTpl;
337 template <typename Scalar>
338 struct ImpulseData3DTpl;
339 
340 template <typename Scalar>
341 struct ImpulseItemTpl;
342 template <typename Scalar>
343 class ImpulseModelMultipleTpl;
344 template <typename Scalar>
345 struct ImpulseDataMultipleTpl;
346 
347 /*******************************Template Instantiation**************************/
348 
349 typedef ActuationModelFloatingBaseTpl<double> ActuationModelFloatingBase;
350 typedef ActuationModelFullTpl<double> ActuationModelFull;
351 typedef ActuationModelMultiCopterBaseTpl<double> ActuationModelMultiCopterBase;
352 
353 typedef ForceDataAbstractTpl<double> ForceDataAbstract;
354 
355 typedef ContactModelAbstractTpl<double> ContactModelAbstract;
356 typedef ContactDataAbstractTpl<double> ContactDataAbstract;
357 
358 typedef ActionModelImpulseFwdDynamicsTpl<double> ActionModelImpulseFwdDynamics;
359 typedef ActionDataImpulseFwdDynamicsTpl<double> ActionDataImpulseFwdDynamics;
360 
361 typedef DifferentialActionModelFreeFwdDynamicsTpl<double> DifferentialActionModelFreeFwdDynamics;
362 typedef DifferentialActionDataFreeFwdDynamicsTpl<double> DifferentialActionDataFreeFwdDynamics;
363 typedef DifferentialActionModelContactFwdDynamicsTpl<double> DifferentialActionModelContactFwdDynamics;
364 typedef DifferentialActionDataContactFwdDynamicsTpl<double> DifferentialActionDataContactFwdDynamics;
365 
366 typedef CostModelNumDiffTpl<double> CostModelNumDiff;
367 typedef CostDataNumDiffTpl<double> CostDataNumDiff;
368 typedef ContactModelNumDiffTpl<double> ContactModelNumDiff;
369 typedef ContactDataNumDiffTpl<double> ContactDataNumDiff;
370 
371 typedef FrictionConeTpl<double> FrictionCone;
372 typedef WrenchConeTpl<double> WrenchCone;
373 typedef CoPSupportTpl<double> CoPSupport;
374 
375 DEPRECATED("Do not use FrameTranslation", typedef FrameTranslationTpl<double> FrameTranslation;)
376 DEPRECATED("Do not use FrameTranslation", typedef FrameRotationTpl<double> FrameRotation;)
377 DEPRECATED("Do not use FramePlacement", typedef FramePlacementTpl<double> FramePlacement;)
378 DEPRECATED("Do not use FrameMotion", typedef FrameMotionTpl<double> FrameMotion;)
379 DEPRECATED("Do not use FrameForce", typedef FrameForceTpl<double> FrameForce;)
380 DEPRECATED("Do not use FrameFrictionCone", typedef FrameFrictionConeTpl<double> FrameFrictionCone;)
381 DEPRECATED("Do not use FrameWrenchCone", typedef FrameWrenchConeTpl<double> FrameWrenchCone;)
382 DEPRECATED("Do not use FrameCopSupport", typedef FrameCoPSupportTpl<double> FrameCoPSupport;)
383 
384 typedef ResidualModelCentroidalMomentumTpl<double> ResidualModelCentroidalMomentum;
385 typedef ResidualDataCentroidalMomentumTpl<double> ResidualDataCentroidalMomentum;
386 typedef ResidualModelCoMPositionTpl<double> ResidualModelCoMPosition;
387 typedef ResidualDataCoMPositionTpl<double> ResidualDataCoMPosition;
388 typedef ResidualModelContactForceTpl<double> ResidualModelContactForce;
389 typedef ResidualDataContactForceTpl<double> ResidualDataContactForce;
390 typedef ResidualModelContactFrictionConeTpl<double> ResidualModelContactFrictionCone;
391 typedef ResidualDataContactFrictionConeTpl<double> ResidualDataContactFrictionCone;
392 typedef ResidualModelContactCoPPositionTpl<double> ResidualModelContactCoPPosition;
393 typedef ResidualDataContactCoPPositionTpl<double> ResidualDataContactCoPPosition;
394 typedef ResidualModelContactWrenchConeTpl<double> ResidualModelContactWrenchCone;
395 typedef ResidualDataContactWrenchConeTpl<double> ResidualDataContactWrenchCone;
396 typedef ResidualModelContactControlGravTpl<double> ResidualModelContactControlGrav;
397 typedef ResidualDataContactControlGravTpl<double> ResidualDataContactControlGrav;
398 typedef ResidualModelControlGravTpl<double> ResidualModelControlGrav;
399 typedef ResidualDataControlGravTpl<double> ResidualDataControlGrav;
400 typedef ResidualModelFramePlacementTpl<double> ResidualModelFramePlacement;
401 typedef ResidualDataFramePlacementTpl<double> ResidualDataFramePlacement;
402 typedef ResidualModelFrameRotationTpl<double> ResidualModelFrameRotation;
403 typedef ResidualDataFrameRotationTpl<double> ResidualDataFrameRotation;
404 typedef ResidualModelFrameTranslationTpl<double> ResidualModelFrameTranslation;
405 typedef ResidualDataFrameTranslationTpl<double> ResidualDataFrameTranslation;
406 typedef ResidualModelFrameVelocityTpl<double> ResidualModelFrameVelocity;
407 typedef ResidualDataFrameVelocityTpl<double> ResidualDataFrameVelocity;
408 typedef ResidualModelImpulseCoMTpl<double> ResidualModelImpulseCoM;
409 typedef ResidualDataImpulseCoMTpl<double> ResidualDataImpulseCoM;
410 typedef ResidualModelStateTpl<double> ResidualModelState;
411 typedef ResidualDataStateTpl<double> ResidualDataState;
412 
413 #ifdef PINOCCHIO_WITH_HPP_FCL
414 typedef ResidualModelPairCollisionTpl<double> ResidualModelPairCollision;
415 typedef ResidualDataPairCollisionTpl<double> ResidualDataPairCollision;
416 #endif
417 
418 DEPRECATED("Use ResidualModelFrameTranslation with CostModelResidual",
419  typedef CostModelFrameTranslationTpl<double> CostModelFrameTranslation;)
420 DEPRECATED("Use ResidualDataFrameTranslation", typedef CostDataResidualTpl<double> CostDataFrameTranslation;)
421 DEPRECATED("Use ResidualModelCentroidalMomentum with CostModelResidual",
422  typedef CostModelCentroidalMomentumTpl<double> CostModelCentroidalMomentum;)
423 DEPRECATED("Use ResidualDataCentroidalMomentum", typedef CostDataResidualTpl<double> CostDataCentroidalMomentum;)
424 DEPRECATED("Use ResidualModelCoMPosition with CostModelResidual",
425  typedef CostModelCoMPositionTpl<double> CostModelCoMPosition;)
426 DEPRECATED("Use ResidualDataCoMPosition", typedef CostDataResidualTpl<double> CostDataCoMPosition;)
427 DEPRECATED("Use ResidualModelFramePlacement with CostModelResidual",
428  typedef CostModelFramePlacementTpl<double> CostModelFramePlacement;)
429 DEPRECATED("Use ResidualDataFramePlacement", typedef CostDataResidualTpl<double> CostDataFramePlacement;)
430 DEPRECATED("Use ResidualModelImpulseCoM with CostModelResidual",
431  typedef CostModelImpulseCoMTpl<double> CostModelImpulseCoM;)
432 DEPRECATED("Use ResidualDataImpulseCoM", typedef CostDataResidualTpl<double> CostDataImpulseCoM;)
433 DEPRECATED("Use ResidualModelState with CostModelResidual", typedef CostModelStateTpl<double> CostModelState;)
434 DEPRECATED("Use ResidualDataState", typedef CostDataResidualTpl<double> CostDataState;)
435 DEPRECATED("Use ResidualModelControlGrav with CostModelResidual",
436  typedef CostModelControlGravTpl<double> CostModelControlGrav;)
437 DEPRECATED("Use ResidualDataControlGrav", typedef CostDataResidualTpl<double> CostDataControlGrav;)
438 DEPRECATED("Use ResidualModelContactControlGrav with CostModelResidual",
439  typedef CostModelControlGravContactTpl<double> CostModelControlGravContact;)
440 DEPRECATED("Use ResidualDataContactControlGrav", typedef CostDataResidualTpl<double> CostDataControlGravContact;)
441 DEPRECATED("Use ResidualModelFrameVelocity with CostModelResidual",
442  typedef CostModelFrameVelocityTpl<double> CostModelFrameVelocity;)
443 DEPRECATED("Use ResidualDataFrameVelocity", typedef CostDataResidualTpl<double> CostDataFrameVelocity;)
444 DEPRECATED("Use ResidualModelFrameRotation with CostModelResidual",
445  typedef CostModelFrameRotationTpl<double> CostModelFrameRotation;)
446 DEPRECATED("Use ResidualDataFrameRotation", typedef CostDataResidualTpl<double> CostDataFrameRotation;)
447 DEPRECATED("Use ResidualModelCoPPosition with CostModelResidual",
448  typedef CostModelContactCoPPositionTpl<double> CostModelContactCoPPosition;)
449 DEPRECATED("Use ResidualDataCoPPosition", typedef CostDataResidualTpl<double> CostDataContactCoPPosition;)
450 DEPRECATED("Use ResidualModelContactFrictionCone with CostModelResidual",
451  typedef CostModelContactFrictionConeTpl<double> CostModelContactFrictionCone;)
452 DEPRECATED("Use ResidualDataContactFrictionCone", typedef CostDataResidualTpl<double> CostDataContactFrictionCone;)
453 DEPRECATED("Use ResidualModelContactWrenchCone with CostModelResidual",
454  typedef CostModelContactWrenchConeTpl<double> CostModelContactWrenchCone;)
455 DEPRECATED("Use ResidualDataContactWrenchCone", typedef CostDataResidualTpl<double> CostDataContactWrenchCone;)
456 DEPRECATED("Use ResidualModelContactForce with CostModelResidual",
457  typedef CostModelContactForceTpl<double> CostModelContactForce;)
458 DEPRECATED("Use ResidualDataContactForce", typedef CostDataResidualTpl<double> CostDataContactForce;)
459 DEPRECATED("Use ResidualModelContactForce with CostModelResidual",
460  typedef CostModelContactImpulseTpl<double> CostModelContactImpulse;)
461 DEPRECATED("Use ResidualDataContactForce", typedef CostDataResidualTpl<double> CostDataContactImpulse;)
462 DEPRECATED("Use ResidualModelFrictionCone with CostModelResidual",
463  typedef CostModelImpulseFrictionConeTpl<double> CostModelImpulseFrictionCone;)
464 DEPRECATED("Use ResidualDataContactFrictionCone", typedef CostDataResidualTpl<double> CostDataImpulseFrictionCone;)
465 DEPRECATED("Use ResidualModelContactCoPPosition with CostModelResidual",
466  typedef CostModelImpulseCoPPositionTpl<double> CostModelImpulseCoPPosition;)
467 DEPRECATED("Use ResidualDataContactCoPPosition", typedef CostDataResidualTpl<double> CostDataImpulseCoPPosition;)
468 DEPRECATED("Use ResidualModelContactWrenchCone with CostModelResidual",
469  typedef CostModelImpulseWrenchConeTpl<double> CostModelImpulseWrenchCone;)
470 DEPRECATED("Use ResidualDataContactWrenchCone", typedef CostDataResidualTpl<double> CostDataImpulseWrenchCone;)
471 
472 typedef ImpulseModelAbstractTpl<double> ImpulseModelAbstract;
473 typedef ImpulseDataAbstractTpl<double> ImpulseDataAbstract;
474 
475 enum ContactType { ContactUndefined, Contact1D, Contact2D, Contact3D, Contact6D };
476 enum ImpulseType { ImpulseUndefined, Impulse3D, Impulse6D };
477 
478 typedef ContactItemTpl<double> ContactItem;
479 typedef ContactModelMultipleTpl<double> ContactModelMultiple;
480 typedef ContactDataMultipleTpl<double> ContactDataMultiple;
481 typedef ContactModel1DTpl<double> ContactModel1D;
482 typedef ContactData1DTpl<double> ContactData1D;
483 typedef ContactModel2DTpl<double> ContactModel2D;
484 typedef ContactData2DTpl<double> ContactData2D;
485 typedef ContactModel3DTpl<double> ContactModel3D;
486 typedef ContactData3DTpl<double> ContactData3D;
487 typedef ContactModel6DTpl<double> ContactModel6D;
488 typedef ContactData6DTpl<double> ContactData6D;
489 
490 typedef StateMultibodyTpl<double> StateMultibody;
491 
492 typedef DataCollectorMultibodyTpl<double> DataCollectorMultibody;
493 typedef DataCollectorActMultibodyTpl<double> DataCollectorActMultibody;
494 typedef DataCollectorContactTpl<double> DataCollectorContact;
495 typedef DataCollectorMultibodyInContactTpl<double> DataCollectorMultibodyInContact;
496 typedef DataCollectorActMultibodyInContactTpl<double> DataCollectorActMultibodyInContact;
497 typedef DataCollectorImpulseTpl<double> DataCollectorImpulse;
498 typedef DataCollectorMultibodyInImpulseTpl<double> DataCollectorMultibodyInImpulse;
499 
500 typedef ImpulseModel6DTpl<double> ImpulseModel6D;
501 typedef ImpulseData6DTpl<double> ImpulseData6D;
502 typedef ImpulseModel3DTpl<double> ImpulseModel3D;
503 typedef ImpulseData3DTpl<double> ImpulseData3D;
504 typedef ImpulseItemTpl<double> ImpulseItem;
505 typedef ImpulseModelMultipleTpl<double> ImpulseModelMultiple;
506 typedef ImpulseDataMultipleTpl<double> ImpulseDataMultiple;
507 
508 } // namespace crocoddyl
509 
510 #endif // CROCODDYL_MULTIBODY_FWD_HPP_
crocoddyl::CostModelContactFrictionConeTpl
Contact friction cone cost.
Definition: contact-friction-cone.hpp:48
crocoddyl::ResidualDataContactFrictionConeTpl
Definition: fwd.hpp:109
crocoddyl::ResidualModelFrameRotationTpl
Frame rotation residual.
Definition: fwd.hpp:137
crocoddyl::ActionModelImpulseFwdDynamicsTpl
Action model for impulse forward dynamics in multibody systems.
Definition: impulse-fwddyn.hpp:62
crocoddyl::ImpulseDataAbstractTpl
Definition: fwd.hpp:263
crocoddyl::ForceDataAbstractTpl
Definition: force-base.hpp:21
crocoddyl::CostModelNumDiffTpl
This class computes the numerical differentiation of a cost model.
Definition: cost.hpp:29
crocoddyl::ResidualModelContactCoPPositionTpl
Center of pressure residual function.
Definition: fwd.hpp:112
crocoddyl::ContactModel1DTpl
Definition: contact-1d.hpp:26
crocoddyl::DataCollectorImpulseTpl
Definition: impulses.hpp:21
crocoddyl::ResidualModelControlGravTpl
Control gravity residual.
Definition: fwd.hpp:127
crocoddyl::ResidualDataCoMPositionTpl
Definition: fwd.hpp:99
crocoddyl::FrameCoPSupportTpl
Definition: frames-deprecated.hpp:267
crocoddyl::CostModelFramePlacementTpl
Frame placement cost.
Definition: frame-placement.hpp:41
crocoddyl::DifferentialActionDataContactFwdDynamicsTpl
Definition: contact-fwddyn.hpp:226
crocoddyl::ResidualDataFrameVelocityTpl
Definition: fwd.hpp:149
crocoddyl::CostModelStateTpl
State cost.
Definition: state.hpp:37
crocoddyl::ContactModelNumDiffTpl
Definition: fwd.hpp:61
crocoddyl::CostModelFrameRotationTpl
Frame rotation cost.
Definition: frame-rotation.hpp:42
crocoddyl::ResidualModelContactWrenchConeTpl
Contact wrench cone residual function.
Definition: fwd.hpp:117
crocoddyl::ResidualModelContactControlGravTpl
Control gravity residual under contact.
Definition: fwd.hpp:122
crocoddyl::ResidualModelFramePlacementTpl
Frame placement residual.
Definition: fwd.hpp:132
crocoddyl::DataCollectorContactTpl
Definition: contacts.hpp:21
crocoddyl::ImpulseModel3DTpl
Definition: fwd.hpp:336
crocoddyl::ResidualDataCentroidalMomentumTpl
Definition: fwd.hpp:94
crocoddyl::ResidualModelCentroidalMomentumTpl
Centroidal momentum residual.
Definition: fwd.hpp:92
crocoddyl::ActuationModelMultiCopterBaseTpl
Multicopter actuation model.
Definition: multicopter-base.hpp:39
crocoddyl::CostModelFrameTranslationTpl
Frame translation cost.
Definition: frame-translation.hpp:42
crocoddyl::CostDataNumDiffTpl
Definition: cost.hpp:143
crocoddyl::FrameTranslationTpl
Definition: frames-deprecated.hpp:29
crocoddyl::ContactData2DTpl
Definition: contact-2d.hpp:141
crocoddyl::ContactItemTpl
Definition: multiple-contacts.hpp:24
crocoddyl::ContactModelAbstractTpl
Definition: contact-base.hpp:20
crocoddyl::ContactModel2DTpl
Definition: contact-2d.hpp:27
crocoddyl::CostModelContactImpulseTpl
Define a contact impulse cost function.
Definition: contact-impulse.hpp:44
crocoddyl::CostModelContactForceTpl
Define a contact force cost function.
Definition: contact-force.hpp:43
crocoddyl::ResidualModelFrameVelocityTpl
Frame velocity residual.
Definition: fwd.hpp:147
crocoddyl::ImpulseDataMultipleTpl
Define the multi-impulse data.
Definition: fwd.hpp:345
crocoddyl::FrameRotationTpl
Definition: frames-deprecated.hpp:64
crocoddyl::ImpulseModelMultipleTpl
Define a stack of impulse models.
Definition: fwd.hpp:343
crocoddyl::ResidualDataFrameTranslationTpl
Definition: fwd.hpp:144
crocoddyl::FramePlacementTpl
Definition: frames-deprecated.hpp:97
crocoddyl::CostModelImpulseCoPPositionTpl
Define a center of pressure cost function.
Definition: impulse-cop-position.hpp:59
crocoddyl::ResidualModelCoMPositionTpl
CoM position residual.
Definition: fwd.hpp:97
crocoddyl::ContactData6DTpl
Definition: contact-6d.hpp:137
crocoddyl::ImpulseData6DTpl
Definition: fwd.hpp:333
crocoddyl::ResidualModelFrameTranslationTpl
Frame translation residual.
Definition: fwd.hpp:142
crocoddyl::DifferentialActionModelContactFwdDynamicsTpl
Differential action model for contact forward dynamics in multibody systems.
Definition: contact-fwddyn.hpp:59
crocoddyl::DataCollectorMultibodyInImpulseTpl
Definition: impulses.hpp:32
crocoddyl::CostModelControlGravTpl
Control gravity cost.
Definition: control-gravity.hpp:36
crocoddyl::CostModelFrameVelocityTpl
Frame velocity cost.
Definition: frame-velocity.hpp:43
crocoddyl::StateMultibodyTpl
State multibody representation.
Definition: fwd.hpp:305
crocoddyl::ResidualDataStateTpl
Definition: fwd.hpp:159
crocoddyl::DifferentialActionModelFreeFwdDynamicsTpl
Differential action model for free forward dynamics in multibody systems.
Definition: free-fwddyn.hpp:50
crocoddyl::CostModelImpulseWrenchConeTpl
Definition: impulse-wrench-cone.hpp:26
crocoddyl::ActionDataImpulseFwdDynamicsTpl
Definition: impulse-fwddyn.hpp:199
crocoddyl::CostModelCoMPositionTpl
CoM position cost.
Definition: com-position.hpp:37
crocoddyl::FrictionConeTpl
This class encapsulates a friction cone.
Definition: friction-cone.hpp:27
crocoddyl::ContactDataAbstractTpl
Definition: contact-base.hpp:81
crocoddyl::ResidualDataContactControlGravTpl
Definition: fwd.hpp:124
crocoddyl::ContactDataMultipleTpl
Define the multi-contact data.
Definition: multiple-contacts.hpp:268
crocoddyl::WrenchConeTpl
This class encapsulates a wrench cone.
Definition: fwd.hpp:297
crocoddyl::ResidualDataContactCoPPositionTpl
Definition: fwd.hpp:114
crocoddyl::ContactDataNumDiffTpl
Definition: fwd.hpp:63
crocoddyl::CostModelImpulseFrictionConeTpl
Impulse friction cone cost.
Definition: impulse-friction-cone.hpp:48
crocoddyl::DataCollectorMultibodyInContactTpl
Definition: contacts.hpp:32
crocoddyl::CoPSupportTpl
This class encapsulates a center of pressure support of a 6d contact.
Definition: cop-support.hpp:25
crocoddyl::ResidualModelContactFrictionConeTpl
Contact friction cone residual.
Definition: fwd.hpp:107
crocoddyl::ResidualDataContactForceTpl
Definition: fwd.hpp:104
crocoddyl::DifferentialActionDataFreeFwdDynamicsTpl
Definition: free-fwddyn.hpp:170
crocoddyl::CostModelContactCoPPositionTpl
Define a center of pressure cost function.
Definition: contact-cop-position.hpp:57
crocoddyl::ResidualModelImpulseCoMTpl
Impulse CoM residual.
Definition: fwd.hpp:152
crocoddyl::CostModelCentroidalMomentumTpl
Centroidal momentum cost.
Definition: centroidal-momentum.hpp:37
crocoddyl::ContactData1DTpl
Definition: contact-1d.hpp:133
crocoddyl::ResidualDataFrameRotationTpl
Definition: fwd.hpp:139
crocoddyl::CostDataResidualTpl
Definition: residual.hpp:136
crocoddyl::ResidualModelStateTpl
State residual.
Definition: fwd.hpp:157
crocoddyl::ActuationModelFullTpl
Full actuation model.
Definition: full.hpp:28
crocoddyl::ImpulseItemTpl
Definition: fwd.hpp:341
crocoddyl::ImpulseData3DTpl
Definition: fwd.hpp:338
crocoddyl::CostModelContactWrenchConeTpl
Definition: contact-wrench-cone.hpp:26
crocoddyl::ImpulseModel6DTpl
Definition: fwd.hpp:331
crocoddyl::ResidualModelContactForceTpl
Define a contact force residual function.
Definition: fwd.hpp:102
crocoddyl::ResidualDataFramePlacementTpl
Definition: fwd.hpp:134
crocoddyl::ActuationModelFloatingBaseTpl
Floating-base actuation model.
Definition: floating-base.hpp:32
crocoddyl::ResidualDataControlGravTpl
Definition: fwd.hpp:129
crocoddyl::CostModelImpulseCoMTpl
Impulse CoM cost.
Definition: impulse-com.hpp:39
crocoddyl::FrameFrictionConeTpl
Definition: frames-deprecated.hpp:211
crocoddyl::ContactData3DTpl
Definition: contact-3d.hpp:140
crocoddyl::FrameForceTpl
Definition: frames-deprecated.hpp:178
crocoddyl::ContactModel3DTpl
Definition: contact-3d.hpp:27
crocoddyl::ContactModelMultipleTpl
Define a stack of contact models.
Definition: multiple-contacts.hpp:55
crocoddyl::FrameMotionTpl
Definition: frames-deprecated.hpp:130
crocoddyl::CostModelControlGravContactTpl
Control gravity cost.
Definition: control-gravity-contact.hpp:38
crocoddyl::DataCollectorActMultibodyTpl
Definition: multibody.hpp:31
crocoddyl::FrameWrenchConeTpl
Definition: frames-deprecated.hpp:239
crocoddyl::DataCollectorMultibodyTpl
Definition: multibody.hpp:21
crocoddyl::DataCollectorActMultibodyInContactTpl
Definition: contacts.hpp:42
crocoddyl::ImpulseModelAbstractTpl
Definition: fwd.hpp:261
crocoddyl::ResidualDataImpulseCoMTpl
Definition: fwd.hpp:154
crocoddyl::ResidualDataContactWrenchConeTpl
Definition: fwd.hpp:119
crocoddyl::ContactModel6DTpl
Definition: contact-6d.hpp:24