Crocoddyl
 
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fwd.hpp
1
2// BSD 3-Clause License
3//
4// Copyright (C) 2019-2024, 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/core/utils/deprecate.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
31template <typename Scalar>
32class ActuationModelMultiCopterBaseTpl;
33
34// force
35template <typename Scala>
36struct ForceDataAbstractTpl;
37
38// contact
39template <typename Scalar>
40class ContactModelAbstractTpl;
41template <typename Scalar>
42struct ContactDataAbstractTpl;
43
44// action
45template <typename Scalar>
46class ActionModelImpulseFwdDynamicsTpl;
47template <typename Scalar>
48struct ActionDataImpulseFwdDynamicsTpl;
49
50// differential action
51template <typename Scalar>
52class DifferentialActionModelFreeFwdDynamicsTpl;
53template <typename Scalar>
54struct DifferentialActionDataFreeFwdDynamicsTpl;
55
56template <typename Scalar>
57class DifferentialActionModelFreeInvDynamicsTpl;
58template <typename Scalar>
59struct DifferentialActionDataFreeInvDynamicsTpl;
60
61template <typename Scalar>
62class DifferentialActionModelContactFwdDynamicsTpl;
63template <typename Scalar>
64struct DifferentialActionDataContactFwdDynamicsTpl;
65
66template <typename Scalar>
67class DifferentialActionModelContactInvDynamicsTpl;
68template <typename Scalar>
69struct DifferentialActionDataContactInvDynamicsTpl;
70
71// numdiff
72template <typename Scalar>
73class CostModelNumDiffTpl;
74template <typename Scalar>
75struct CostDataNumDiffTpl;
76
77template <typename Scalar>
78class ContactModelNumDiffTpl;
79template <typename Scalar>
80struct ContactDataNumDiffTpl;
81
82// residual
83template <typename Scalar>
84class ResidualModelCentroidalMomentumTpl;
85template <typename Scalar>
86struct ResidualDataCentroidalMomentumTpl;
87
88template <typename Scalar>
89class ResidualModelCoMPositionTpl;
90template <typename Scalar>
91struct ResidualDataCoMPositionTpl;
92
93template <typename Scalar>
94class ResidualModelContactForceTpl;
95template <typename Scalar>
96struct ResidualDataContactForceTpl;
97
98template <typename Scalar>
99class ResidualModelContactFrictionConeTpl;
100template <typename Scalar>
101struct ResidualDataContactFrictionConeTpl;
102
103template <typename Scalar>
104class ResidualModelContactCoPPositionTpl;
105template <typename Scalar>
106struct ResidualDataContactCoPPositionTpl;
107
108template <typename Scalar>
109class ResidualModelContactWrenchConeTpl;
110template <typename Scalar>
111struct ResidualDataContactWrenchConeTpl;
112
113template <typename Scalar>
114class ResidualModelContactControlGravTpl;
115template <typename Scalar>
116struct ResidualDataContactControlGravTpl;
117
118template <typename Scalar>
119class ResidualModelControlGravTpl;
120template <typename Scalar>
121struct ResidualDataControlGravTpl;
122
123template <typename Scalar>
124class ResidualModelFramePlacementTpl;
125template <typename Scalar>
126struct ResidualDataFramePlacementTpl;
127
128template <typename Scalar>
129class ResidualModelFrameRotationTpl;
130template <typename Scalar>
131struct ResidualDataFrameRotationTpl;
132
133template <typename Scalar>
134class ResidualModelFrameTranslationTpl;
135template <typename Scalar>
136struct ResidualDataFrameTranslationTpl;
137
138template <typename Scalar>
139class ResidualModelFrameVelocityTpl;
140template <typename Scalar>
141struct ResidualDataFrameVelocityTpl;
142
143template <typename Scalar>
144class ResidualModelImpulseCoMTpl;
145template <typename Scalar>
146struct ResidualDataImpulseCoMTpl;
147
148template <typename Scalar>
149class ResidualModelStateTpl;
150template <typename Scalar>
151struct ResidualDataStateTpl;
152
153#ifdef PINOCCHIO_WITH_HPP_FCL
154template <typename Scalar>
155class ResidualModelPairCollisionTpl;
156template <typename Scalar>
157struct ResidualDataPairCollisionTpl;
158#endif
159
160// impulse
161template <typename Scalar>
162class ImpulseModelAbstractTpl;
163template <typename Scalar>
164struct ImpulseDataAbstractTpl;
165
166// contact
167template <typename Scalar>
168struct ContactItemTpl;
169template <typename Scalar>
170class ContactModelMultipleTpl;
171template <typename Scalar>
172struct ContactDataMultipleTpl;
173
174template <typename Scalar>
175class ContactModel1DTpl;
176template <typename Scalar>
177struct ContactData1DTpl;
178
179template <typename Scalar>
180class ContactModel2DTpl;
181template <typename Scalar>
182struct ContactData2DTpl;
183
184template <typename Scalar>
185class ContactModel3DTpl;
186template <typename Scalar>
187struct ContactData3DTpl;
188
189template <typename Scalar>
190class ContactModel6DTpl;
191template <typename Scalar>
192struct ContactData6DTpl;
193
194// friction
195template <typename Scalar>
196class FrictionConeTpl;
197template <typename Scalar>
198class WrenchConeTpl;
199
200// cop support
201template <typename Scalar>
202class CoPSupportTpl;
203
204// state
205template <typename Scalar>
206class StateMultibodyTpl;
207
208// data collector
209template <typename Scalar>
210struct DataCollectorMultibodyTpl;
211
212template <typename Scalar>
213struct DataCollectorActMultibodyTpl;
214
215template <typename Scalar>
216struct DataCollectorJointActMultibodyTpl;
217
218template <typename Scalar>
219struct DataCollectorContactTpl;
220
221template <typename Scalar>
222struct DataCollectorMultibodyInContactTpl;
223
224template <typename Scalar>
225struct DataCollectorActMultibodyInContactTpl;
226
227template <typename Scalar>
228struct DataCollectorJointActMultibodyInContactTpl;
229
230template <typename Scalar>
231struct DataCollectorImpulseTpl;
232
233template <typename Scalar>
234struct DataCollectorMultibodyInImpulseTpl;
235
236// impulse
237template <typename Scalar>
238class ImpulseModel6DTpl;
239template <typename Scalar>
240struct ImpulseData6DTpl;
241
242template <typename Scalar>
243class ImpulseModel3DTpl;
244template <typename Scalar>
245struct ImpulseData3DTpl;
246
247template <typename Scalar>
248struct ImpulseItemTpl;
249template <typename Scalar>
250class ImpulseModelMultipleTpl;
251template <typename Scalar>
252struct ImpulseDataMultipleTpl;
253
254/**** Template Instantiation ****/
255
256typedef ActuationModelFloatingBaseTpl<double> ActuationModelFloatingBase;
257typedef ActuationModelFullTpl<double> ActuationModelFull;
258typedef ThrusterTpl<double> Thruster;
259typedef ActuationModelFloatingBaseThrustersTpl<double>
260 ActuationModelFloatingBaseThrusters;
261DEPRECATED("Use ActuationModelFloatingBaseThrustersTpl",
262 typedef ActuationModelMultiCopterBaseTpl<double>
263 ActuationModelMultiCopterBase;)
264
265typedef ForceDataAbstractTpl<double> ForceDataAbstract;
266
267typedef ContactModelAbstractTpl<double> ContactModelAbstract;
268typedef ContactDataAbstractTpl<double> ContactDataAbstract;
269
270typedef ActionModelImpulseFwdDynamicsTpl<double> ActionModelImpulseFwdDynamics;
271typedef ActionDataImpulseFwdDynamicsTpl<double> ActionDataImpulseFwdDynamics;
272
273typedef DifferentialActionModelFreeFwdDynamicsTpl<double>
274 DifferentialActionModelFreeFwdDynamics;
275typedef DifferentialActionDataFreeFwdDynamicsTpl<double>
276 DifferentialActionDataFreeFwdDynamics;
277typedef DifferentialActionModelFreeInvDynamicsTpl<double>
278 DifferentialActionModelFreeInvDynamics;
279typedef DifferentialActionDataFreeInvDynamicsTpl<double>
280 DifferentialActionDataFreeInvDynamics;
281typedef DifferentialActionModelContactFwdDynamicsTpl<double>
282 DifferentialActionModelContactFwdDynamics;
283typedef DifferentialActionDataContactFwdDynamicsTpl<double>
284 DifferentialActionDataContactFwdDynamics;
285typedef DifferentialActionModelContactInvDynamicsTpl<double>
286 DifferentialActionModelContactInvDynamics;
287typedef DifferentialActionDataContactInvDynamicsTpl<double>
288 DifferentialActionDataContactInvDynamics;
289
290typedef CostModelNumDiffTpl<double> CostModelNumDiff;
291typedef CostDataNumDiffTpl<double> CostDataNumDiff;
292typedef ContactModelNumDiffTpl<double> ContactModelNumDiff;
293typedef ContactDataNumDiffTpl<double> ContactDataNumDiff;
294
295typedef FrictionConeTpl<double> FrictionCone;
296typedef WrenchConeTpl<double> WrenchCone;
297typedef CoPSupportTpl<double> CoPSupport;
298
299typedef ResidualModelCentroidalMomentumTpl<double>
300 ResidualModelCentroidalMomentum;
301typedef ResidualDataCentroidalMomentumTpl<double>
302 ResidualDataCentroidalMomentum;
303typedef ResidualModelCoMPositionTpl<double> ResidualModelCoMPosition;
304typedef ResidualDataCoMPositionTpl<double> ResidualDataCoMPosition;
305typedef ResidualModelContactForceTpl<double> ResidualModelContactForce;
306typedef ResidualDataContactForceTpl<double> ResidualDataContactForce;
307typedef ResidualModelContactFrictionConeTpl<double>
308 ResidualModelContactFrictionCone;
309typedef ResidualDataContactFrictionConeTpl<double>
310 ResidualDataContactFrictionCone;
311typedef ResidualModelContactCoPPositionTpl<double>
312 ResidualModelContactCoPPosition;
313typedef ResidualDataContactCoPPositionTpl<double>
314 ResidualDataContactCoPPosition;
315typedef ResidualModelContactWrenchConeTpl<double>
316 ResidualModelContactWrenchCone;
317typedef ResidualDataContactWrenchConeTpl<double> ResidualDataContactWrenchCone;
318typedef ResidualModelContactControlGravTpl<double>
319 ResidualModelContactControlGrav;
320typedef ResidualDataContactControlGravTpl<double>
321 ResidualDataContactControlGrav;
322typedef ResidualModelControlGravTpl<double> ResidualModelControlGrav;
323typedef ResidualDataControlGravTpl<double> ResidualDataControlGrav;
324typedef ResidualModelFramePlacementTpl<double> ResidualModelFramePlacement;
325typedef ResidualDataFramePlacementTpl<double> ResidualDataFramePlacement;
326typedef ResidualModelFrameRotationTpl<double> ResidualModelFrameRotation;
327typedef ResidualDataFrameRotationTpl<double> ResidualDataFrameRotation;
328typedef ResidualModelFrameTranslationTpl<double> ResidualModelFrameTranslation;
329typedef ResidualDataFrameTranslationTpl<double> ResidualDataFrameTranslation;
330typedef ResidualModelFrameVelocityTpl<double> ResidualModelFrameVelocity;
331typedef ResidualDataFrameVelocityTpl<double> ResidualDataFrameVelocity;
332typedef ResidualModelImpulseCoMTpl<double> ResidualModelImpulseCoM;
333typedef ResidualDataImpulseCoMTpl<double> ResidualDataImpulseCoM;
334typedef ResidualModelStateTpl<double> ResidualModelState;
335typedef ResidualDataStateTpl<double> ResidualDataState;
336
337#ifdef PINOCCHIO_WITH_HPP_FCL
338typedef ResidualModelPairCollisionTpl<double> ResidualModelPairCollision;
339typedef ResidualDataPairCollisionTpl<double> ResidualDataPairCollision;
340#endif
341
342typedef ImpulseModelAbstractTpl<double> ImpulseModelAbstract;
343typedef ImpulseDataAbstractTpl<double> ImpulseDataAbstract;
344
345enum ContactType {
346 ContactUndefined,
347 Contact1D,
348 Contact2D,
349 Contact3D,
350 Contact6D
351};
352enum ImpulseType { ImpulseUndefined, Impulse3D, Impulse6D };
353
354typedef ContactItemTpl<double> ContactItem;
355typedef ContactModelMultipleTpl<double> ContactModelMultiple;
356typedef ContactDataMultipleTpl<double> ContactDataMultiple;
357typedef ContactModel1DTpl<double> ContactModel1D;
358typedef ContactData1DTpl<double> ContactData1D;
359typedef ContactModel2DTpl<double> ContactModel2D;
360typedef ContactData2DTpl<double> ContactData2D;
361typedef ContactModel3DTpl<double> ContactModel3D;
362typedef ContactData3DTpl<double> ContactData3D;
363typedef ContactModel6DTpl<double> ContactModel6D;
364typedef ContactData6DTpl<double> ContactData6D;
365
366typedef StateMultibodyTpl<double> StateMultibody;
367
368typedef DataCollectorMultibodyTpl<double> DataCollectorMultibody;
369typedef DataCollectorActMultibodyTpl<double> DataCollectorActMultibody;
370typedef DataCollectorJointActMultibodyTpl<double>
371 DataCollectorJointActMultibody;
372typedef DataCollectorContactTpl<double> DataCollectorContact;
373typedef DataCollectorMultibodyInContactTpl<double>
374 DataCollectorMultibodyInContact;
375typedef DataCollectorActMultibodyInContactTpl<double>
376 DataCollectorActMultibodyInContact;
377typedef DataCollectorJointActMultibodyInContactTpl<double>
378 DataCollectorJointActMultibodyInContact;
379typedef DataCollectorImpulseTpl<double> DataCollectorImpulse;
380typedef DataCollectorMultibodyInImpulseTpl<double>
381 DataCollectorMultibodyInImpulse;
382
383typedef ImpulseModel6DTpl<double> ImpulseModel6D;
384typedef ImpulseData6DTpl<double> ImpulseData6D;
385typedef ImpulseModel3DTpl<double> ImpulseModel3D;
386typedef ImpulseData3DTpl<double> ImpulseData3D;
387typedef ImpulseItemTpl<double> ImpulseItem;
388typedef ImpulseModelMultipleTpl<double> ImpulseModelMultiple;
389typedef ImpulseDataMultipleTpl<double> ImpulseDataMultiple;
390
391} // namespace crocoddyl
392
393#endif // CROCODDYL_MULTIBODY_FWD_HPP_
crocoddyl::ActionModelImpulseFwdDynamicsTpl
Action model for impulse forward dynamics in multibody systems.
Definition impulse-fwddyn.hpp:69
crocoddyl::ActuationModelFloatingBaseThrustersTpl
Actuation models for floating base systems actuated with thrusters.
Definition floating-base-thrusters.hpp:133
crocoddyl::ActuationModelFloatingBaseTpl
Floating-base actuation model.
Definition floating-base.hpp:37
crocoddyl::ActuationModelFullTpl
Full actuation model.
Definition full.hpp:30
crocoddyl::CoPSupportTpl
This class encapsulates a center of pressure support of a 6d contact.
Definition cop-support.hpp:26
crocoddyl::ContactModelMultipleTpl
Define a stack of contact models.
Definition multiple-contacts.hpp:60
crocoddyl::CostModelNumDiffTpl
This class computes the numerical differentiation of a cost model.
Definition cost.hpp:34
crocoddyl::DifferentialActionModelContactFwdDynamicsTpl
Differential action model for contact forward dynamics in multibody systems.
Definition contact-fwddyn.hpp:75
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:60
crocoddyl::DifferentialActionModelFreeInvDynamicsTpl
Differential action model for free inverse dynamics in multibody systems.
Definition free-invdyn.hpp:43
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:60
crocoddyl::ResidualModelContactCoPPositionTpl
Center of pressure residual function.
Definition contact-cop-position.hpp:68
crocoddyl::ResidualModelContactControlGravTpl
Control gravity residual under contact.
Definition contact-control-gravity.hpp:41
crocoddyl::ResidualModelContactForceTpl
Define a contact force residual function.
Definition contact-force.hpp:57
crocoddyl::ResidualModelContactWrenchConeTpl
Contact wrench cone residual function.
Definition contact-wrench-cone.hpp:56
crocoddyl::StateMultibodyTpl
State multibody representation.
Definition multibody.hpp:35
crocoddyl::WrenchConeTpl
This class encapsulates a wrench cone.
Definition wrench-cone.hpp:32
crocoddyl::ContactDataMultipleTpl
Define the multi-contact data.
Definition multiple-contacts.hpp:295
crocoddyl::ImpulseDataMultipleTpl
Define the multi-impulse data.
Definition multiple-impulses.hpp:260