fwd.hpp File Reference

#include <crocoddyl/core/action-base.hpp>
#include <crocoddyl/core/activations/quadratic-barrier.hpp>
#include <crocoddyl/core/activations/quadratic-flat-log.hpp>
#include <crocoddyl/core/activations/smooth-1norm.hpp>
#include <crocoddyl/core/activations/weighted-quadratic.hpp>
#include <crocoddyl/core/fwd.hpp>
#include <crocoddyl/core/integrator/euler.hpp>
#include <crocoddyl/core/optctrl/shooting.hpp>
#include <crocoddyl/core/residuals/control.hpp>
#include <crocoddyl/core/solver-base.hpp>
#include <crocoddyl/core/solvers/fddp.hpp>
#include <crocoddyl/core/utils/exception.hpp>
#include <crocoddyl/multibody/actions/contact-fwddyn.hpp>
#include <crocoddyl/multibody/actuations/floating-base.hpp>
#include <crocoddyl/multibody/contacts/contact-6d.hpp>
#include <crocoddyl/multibody/contacts/multiple-contacts.hpp>
#include <crocoddyl/multibody/frames.hpp>
#include <crocoddyl/multibody/fwd.hpp>
#include <crocoddyl/multibody/residuals/com-position.hpp>
#include <crocoddyl/multibody/residuals/contact-control-gravity.hpp>
#include <crocoddyl/multibody/residuals/contact-force.hpp>
#include <crocoddyl/multibody/residuals/contact-wrench-cone.hpp>
#include <crocoddyl/multibody/residuals/frame-placement.hpp>
#include <crocoddyl/multibody/residuals/frame-rotation.hpp>
#include <crocoddyl/multibody/residuals/frame-translation.hpp>
#include <crocoddyl/multibody/residuals/frame-velocity.hpp>
#include <crocoddyl/multibody/residuals/state.hpp>
#include <crocoddyl/multibody/states/multibody.hpp>
#include <pinocchio/algorithm/center-of-mass.hpp>
#include <pinocchio/algorithm/frames.hpp>
#include <pinocchio/algorithm/joint-configuration.hpp>
#include <pinocchio/algorithm/model.hpp>
#include <pinocchio/fwd.hpp>
#include <pinocchio/multibody/data.hpp>
#include <pinocchio/multibody/model.hpp>
#include "sobec/crocomplements/activation-quad-ref.hpp"
#include "sobec/crocomplements/residual-com-velocity.hpp"

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Classes
class	sobec::ResidualModelCoMVelocityTpl< _Scalar >
	CoM velocity residual. More...
struct	sobec::ResidualDataCoMVelocityTpl< _Scalar >
class	sobec::ResidualModelCenterOfPressureTpl< _Scalar >
	COP residual. More...
struct	sobec::ResidualDataCenterOfPressureTpl< _Scalar >
class	sobec::ResidualModelCenterOfFrictionTpl< _Scalar >
	Center of friction residual. More...
struct	sobec::ResidualDataCenterOfFrictionTpl< _Scalar >
class	sobec::ResidualModelVelCollisionTpl< Scalar >
struct	sobec::ResidualDataVelCollisionTpl< Scalar >
class	sobec::ResidualModelFlyAngleTpl< _Scalar >
	Cost penalizing high horizontal velocity near zero altitude. More...
struct	sobec::ResidualDataFlyAngleTpl< _Scalar >
class	sobec::ResidualModelFlyHighTpl< _Scalar >
	Cost penalizing high horizontal velocity near zero altitude. More...
struct	sobec::ResidualDataFlyHighTpl< _Scalar >
class	sobec::ResidualModelDCMPositionTpl< _Scalar >
	DCM position residual. More...
struct	sobec::ResidualDataDCMPositionTpl< _Scalar >
class	sobec::ResidualModelFeetCollisionTpl< _Scalar >
	Cost penalizing distance between two frames r=||f1.translation-f2.translation||. More...
struct	sobec::ResidualDataFeetCollisionTpl< _Scalar >
class	sobec::ResidualModel2DSurfaceTpl< _Scalar >
	Cost penalizing the position of one effector with respect to the other. More...
struct	sobec::ResidualData2DSurfaceTpl< _Scalar >
class	sobec::ActivationModelQuadRefTpl< _Scalar >
class	sobec::ActivationModelWeightedLogTpl< _Scalar >
struct	sobec::ActivationDataWeightedLogTpl< _Scalar >
class	sobec::StateLPFTpl< _Scalar >
class	sobec::IntegratedActionModelLPFTpl< _Scalar >
class	sobec::IntegratedActionDataLPFTpl< _Scalar >
class	sobec::newcontacts::ContactModel6DTpl< _Scalar >
class	sobec::newcontacts::ContactData6DTpl< _Scalar >
class	sobec::newcontacts::ContactModel3DTpl< _Scalar >
struct	sobec::newcontacts::ContactData3DTpl< _Scalar >
class	sobec::newcontacts::ContactModel1DTpl< _Scalar >
struct	sobec::newcontacts::ContactData1DTpl< _Scalar >
class	sobec::newcontacts::ContactModelMultipleTpl< _Scalar >
	Define a stack of contact models. More...
class	sobec::newcontacts::DifferentialActionModelContactFwdDynamicsTpl< _Scalar >
	Differential action model for contact forward dynamics in multibody systems. More...
class	sobec::newcontacts::ResidualModelContactForceTpl< _Scalar >
	Define a contact force residual function. More...

Namespaces
	sobec
	sobec::newcontacts

Typedefs
typedef ResidualModelCoMVelocityTpl< double >	sobec::ResidualModelCoMVelocity
typedef ResidualDataCoMVelocityTpl< double >	sobec::ResidualDataCoMVelocity
typedef ResidualModelCenterOfPressureTpl< double >	sobec::ResidualModelCenterOfPressure
typedef ResidualDataCenterOfPressureTpl< double >	sobec::ResidualDataCenterOfPressure
typedef ResidualModelCenterOfFrictionTpl< double >	sobec::ResidualModelCenterOfFriction
typedef ResidualDataCenterOfFrictionTpl< double >	sobec::ResidualDataCenterOfFriction
typedef ResidualModelVelCollisionTpl< double >	sobec::ResidualModelVelCollision
typedef ResidualDataVelCollisionTpl< double >	sobec::ResidualDataVelCollision
typedef ResidualModelFlyAngleTpl< double >	sobec::ResidualModelFlyAngle
typedef ResidualDataFlyAngleTpl< double >	sobec::ResidualDataFlyAngle
typedef ResidualModelFlyHighTpl< double >	sobec::ResidualModelFlyHigh
typedef ResidualDataFlyHighTpl< double >	sobec::ResidualDataFlyHigh
typedef ResidualModelDCMPositionTpl< double >	sobec::ResidualModelDCMPosition
typedef ResidualDataDCMPositionTpl< double >	sobec::ResidualDataDCMPosition
typedef ResidualModelFeetCollisionTpl< double >	sobec::ResidualModelFeetCollision
typedef ResidualDataFeetCollisionTpl< double >	sobec::ResidualDataFeetCollision
typedef ResidualModel2DSurfaceTpl< double >	sobec::ResidualModel2DSurface
typedef ResidualData2DSurfaceTpl< double >	sobec::ResidualData2DSurface
typedef ActivationModelQuadRefTpl< double >	sobec::ActivationModelQuadRef
typedef boost::shared_ptr< ActivationModelQuadRef >	sobec::ActivationModelQuadRefPtr
typedef ActivationModelWeightedLogTpl< double >	sobec::ActivationModelWeightedLog
typedef ActivationDataWeightedLogTpl< double >	sobec::ActivationDataWeightedLog
typedef boost::shared_ptr< ActivationModelWeightedLog >	sobec::ActivationModelWeightedLogPtr
typedef Eigen::Matrix< double, 6, 1 >	sobec::eVector6
typedef Eigen::Matrix< double, 4, 1 >	sobec::eVector4
typedef Eigen::Vector3d	sobec::eVector3
typedef Eigen::Vector2d	sobec::eVector2
typedef boost::shared_ptr< crocoddyl::IntegratedActionModelEuler >	sobec::IAM
typedef boost::shared_ptr< crocoddyl::IntegratedActionDataEuler >	sobec::IAD
typedef boost::shared_ptr< crocoddyl::ActionModelAbstract >	sobec::AMA
typedef boost::shared_ptr< crocoddyl::ActionDataAbstract >	sobec::ADA
typedef boost::shared_ptr< crocoddyl::DifferentialActionModelContactFwdDynamics >	sobec::DAM
typedef boost::shared_ptr< crocoddyl::DifferentialActionDataContactFwdDynamics >	sobec::DAD
typedef boost::shared_ptr< crocoddyl::CostModelSum >	sobec::Cost
typedef boost::shared_ptr< crocoddyl::ContactModelMultiple >	sobec::Contact
typedef boost::shared_ptr< crocoddyl::SolverFDDP >	sobec::DDP
typedef boost::shared_ptr< crocoddyl::ResidualModelFramePlacement >	sobec::ResidualModelFramePlacementPtr
typedef boost::shared_ptr< crocoddyl::ResidualModelContactWrenchCone >	sobec::ResidualModelContactWrenchConePtr
typedef StateLPFTpl< double >	sobec::StateLPF
typedef IntegratedActionModelLPFTpl< double >	sobec::IntegratedActionModelLPF
typedef IntegratedActionDataLPFTpl< double >	sobec::IntegratedActionDataLPF
typedef ContactModel6DTpl< double >	sobec::newcontacts::ContactModel6D
typedef ContactData6DTpl< double >	sobec::newcontacts::ContactData6D
typedef ContactModel3DTpl< double >	sobec::newcontacts::ContactModel3D
typedef ContactData3DTpl< double >	sobec::newcontacts::ContactData3D
typedef ContactModel1DTpl< double >	sobec::newcontacts::ContactModel1D
typedef ContactData1DTpl< double >	sobec::newcontacts::ContactData1D
typedef ContactModelMultipleTpl< double >	sobec::newcontacts::ContactModelMultiple
typedef DifferentialActionModelContactFwdDynamicsTpl< double >	sobec::newcontacts::DifferentialActionModelContactFwdDynamics
typedef ResidualModelContactForceTpl< double >	sobec::newcontacts::ResidualModelContactForce