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