Crocoddyl
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fwd.hpp
1
2// BSD 3-Clause License
3//
4// Copyright (C) 2019-2026, 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/multibody/pch.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
31// force
32template <typename Scala>
33struct ForceDataAbstractTpl;
34
35// contact
36template <typename Scalar>
37class ContactModelAbstractTpl;
38template <typename Scalar>
39struct ContactDataAbstractTpl;
40
41// action
42template <typename Scalar>
43class ActionModelImpulseFwdDynamicsTpl;
44template <typename Scalar>
45struct ActionDataImpulseFwdDynamicsTpl;
46
47// differential action
48template <typename Scalar>
49class DifferentialActionModelFreeFwdDynamicsTpl;
50template <typename Scalar>
51struct DifferentialActionDataFreeFwdDynamicsTpl;
52
53template <typename Scalar>
54class DifferentialActionModelFreeInvDynamicsTpl;
55template <typename Scalar>
56struct DifferentialActionDataFreeInvDynamicsTpl;
57
58template <typename Scalar>
59class DifferentialActionModelContactFwdDynamicsTpl;
60template <typename Scalar>
61struct DifferentialActionDataContactFwdDynamicsTpl;
62
63template <typename Scalar>
64class DifferentialActionModelContactInvDynamicsTpl;
65template <typename Scalar>
66struct DifferentialActionDataContactInvDynamicsTpl;
67
68// numdiff
69template <typename Scalar>
70class CostModelNumDiffTpl;
71template <typename Scalar>
72struct CostDataNumDiffTpl;
73
74template <typename Scalar>
75class ContactModelNumDiffTpl;
76template <typename Scalar>
77struct ContactDataNumDiffTpl;
78
79// residual
80template <typename Scalar>
81class ResidualModelCentroidalMomentumTpl;
82template <typename Scalar>
83struct ResidualDataCentroidalMomentumTpl;
84
85template <typename Scalar>
86class ResidualModelCoMPositionTpl;
87template <typename Scalar>
88struct ResidualDataCoMPositionTpl;
89
90template <typename Scalar>
91class ResidualModelContactForceTpl;
92template <typename Scalar>
93struct ResidualDataContactForceTpl;
94
95template <typename Scalar>
96class ResidualModelContactFrictionConeTpl;
97template <typename Scalar>
98struct ResidualDataContactFrictionConeTpl;
99
100template <typename Scalar>
101class ResidualModelContactCoPPositionTpl;
102template <typename Scalar>
103struct ResidualDataContactCoPPositionTpl;
104
105template <typename Scalar>
106class ResidualModelContactWrenchConeTpl;
107template <typename Scalar>
108struct ResidualDataContactWrenchConeTpl;
109
110template <typename Scalar>
111class ResidualModelContactControlGravTpl;
112template <typename Scalar>
113struct ResidualDataContactControlGravTpl;
114
115template <typename Scalar>
116class ResidualModelControlGravTpl;
117template <typename Scalar>
118struct ResidualDataControlGravTpl;
119
120template <typename Scalar>
121class ResidualModelFramePlacementTpl;
122template <typename Scalar>
123struct ResidualDataFramePlacementTpl;
124
125template <typename Scalar>
126class ResidualModelFrameRotationTpl;
127template <typename Scalar>
128struct ResidualDataFrameRotationTpl;
129
130template <typename Scalar>
131class ResidualModelFrameTranslationTpl;
132template <typename Scalar>
133struct ResidualDataFrameTranslationTpl;
134
135template <typename Scalar>
136class ResidualModelFrameVelocityTpl;
137template <typename Scalar>
138struct ResidualDataFrameVelocityTpl;
139
140template <typename Scalar>
141class ResidualModelImpulseCoMTpl;
142template <typename Scalar>
143struct ResidualDataImpulseCoMTpl;
144
145template <typename Scalar>
146class ResidualModelStateTpl;
147template <typename Scalar>
148struct ResidualDataStateTpl;
149
150#ifdef PINOCCHIO_WITH_HPP_FCL
151template <typename Scalar>
152class ResidualModelPairCollisionTpl;
153template <typename Scalar>
154struct ResidualDataPairCollisionTpl;
155#endif
156
157// task
158template <typename Scalar>
159class TaskModelCentroidalMomentumTpl;
160template <typename Scalar>
161struct TaskDataCentroidalMomentumTpl;
162
163template <typename Scalar>
164class TaskModelFrameRotationTpl;
165template <typename Scalar>
166struct TaskDataFrameRotationTpl;
167
168template <typename Scalar>
169class TaskModelFrameTranslationTpl;
170template <typename Scalar>
171struct TaskDataFrameTranslationTpl;
172
173template <typename Scalar>
174class TaskModelFramePlacementTpl;
175template <typename Scalar>
176struct TaskDataFramePlacementTpl;
177
178template <typename Scalar>
179class TaskModelCoMPositionTpl;
180template <typename Scalar>
181struct TaskDataCoMPositionTpl;
182
183template <typename Scalar>
184class TaskModelJointPositionTpl;
185template <typename Scalar>
186struct TaskDataJointPositionTpl;
187
188// impulse
189template <typename Scalar>
190class ImpulseModelAbstractTpl;
191template <typename Scalar>
192struct ImpulseDataAbstractTpl;
193
194// contact
195template <typename Scalar>
196struct ContactItemTpl;
197template <typename Scalar>
198class ContactModelMultipleTpl;
199template <typename Scalar>
200struct ContactDataMultipleTpl;
201
202template <typename Scalar>
203class ContactModel1DTpl;
204template <typename Scalar>
205struct ContactData1DTpl;
206
207template <typename Scalar>
208class ContactModel2DTpl;
209template <typename Scalar>
210struct ContactData2DTpl;
211
212template <typename Scalar>
213class ContactModel3DTpl;
214template <typename Scalar>
215struct ContactData3DTpl;
216
217template <typename Scalar>
218class ContactModel6DTpl;
219template <typename Scalar>
220struct ContactData6DTpl;
221
222// friction
223template <typename Scalar>
224class FrictionConeTpl;
225template <typename Scalar>
226class WrenchConeTpl;
227
228// cop support
229template <typename Scalar>
230class CoPSupportTpl;
231
232// state
233template <typename Scalar>
234class StateMultibodyTpl;
235
236// data collector
237template <typename Scalar>
238struct DataCollectorMultibodyTpl;
239
240template <typename Scalar>
241struct DataCollectorActMultibodyTpl;
242
243template <typename Scalar>
244struct DataCollectorJointActMultibodyTpl;
245
246template <typename Scalar>
247struct DataCollectorContactTpl;
248
249template <typename Scalar>
250struct DataCollectorMultibodyInContactTpl;
251
252template <typename Scalar>
253struct DataCollectorActMultibodyInContactTpl;
254
255template <typename Scalar>
256struct DataCollectorJointActMultibodyInContactTpl;
257
258template <typename Scalar>
259struct DataCollectorImpulseTpl;
260
261template <typename Scalar>
262struct DataCollectorMultibodyInImpulseTpl;
263
264// impulse
265template <typename Scalar>
266class ImpulseModel6DTpl;
267template <typename Scalar>
268struct ImpulseData6DTpl;
269
270template <typename Scalar>
271class ImpulseModel3DTpl;
272template <typename Scalar>
273struct ImpulseData3DTpl;
274
275template <typename Scalar>
276struct ImpulseItemTpl;
277template <typename Scalar>
278class ImpulseModelMultipleTpl;
279template <typename Scalar>
280struct ImpulseDataMultipleTpl;
281
282/**** Template Instantiation ****/
283
284typedef ActuationModelFloatingBaseTpl<double> ActuationModelFloatingBase;
285typedef ActuationModelFullTpl<double> ActuationModelFull;
286typedef ThrusterTpl<double> Thruster;
287typedef ActuationModelFloatingBaseThrustersTpl<double>
288 ActuationModelFloatingBaseThrusters;
289
290typedef ForceDataAbstractTpl<double> ForceDataAbstract;
291
292typedef ContactModelAbstractTpl<double> ContactModelAbstract;
293typedef ContactDataAbstractTpl<double> ContactDataAbstract;
294
295typedef ActionModelImpulseFwdDynamicsTpl<double> ActionModelImpulseFwdDynamics;
296typedef ActionDataImpulseFwdDynamicsTpl<double> ActionDataImpulseFwdDynamics;
297
298typedef DifferentialActionModelFreeFwdDynamicsTpl<double>
299 DifferentialActionModelFreeFwdDynamics;
300typedef DifferentialActionDataFreeFwdDynamicsTpl<double>
301 DifferentialActionDataFreeFwdDynamics;
302typedef DifferentialActionModelFreeInvDynamicsTpl<double>
303 DifferentialActionModelFreeInvDynamics;
304typedef DifferentialActionDataFreeInvDynamicsTpl<double>
305 DifferentialActionDataFreeInvDynamics;
306typedef DifferentialActionModelContactFwdDynamicsTpl<double>
307 DifferentialActionModelContactFwdDynamics;
308typedef DifferentialActionDataContactFwdDynamicsTpl<double>
309 DifferentialActionDataContactFwdDynamics;
310typedef DifferentialActionModelContactInvDynamicsTpl<double>
311 DifferentialActionModelContactInvDynamics;
312typedef DifferentialActionDataContactInvDynamicsTpl<double>
313 DifferentialActionDataContactInvDynamics;
314
315typedef CostModelNumDiffTpl<double> CostModelNumDiff;
316typedef CostDataNumDiffTpl<double> CostDataNumDiff;
317typedef ContactModelNumDiffTpl<double> ContactModelNumDiff;
318typedef ContactDataNumDiffTpl<double> ContactDataNumDiff;
319
320typedef FrictionConeTpl<double> FrictionCone;
321typedef WrenchConeTpl<double> WrenchCone;
322typedef CoPSupportTpl<double> CoPSupport;
323
324typedef ResidualModelCentroidalMomentumTpl<double>
325 ResidualModelCentroidalMomentum;
326typedef ResidualDataCentroidalMomentumTpl<double>
327 ResidualDataCentroidalMomentum;
328typedef ResidualModelCoMPositionTpl<double> ResidualModelCoMPosition;
329typedef ResidualDataCoMPositionTpl<double> ResidualDataCoMPosition;
330typedef ResidualModelContactForceTpl<double> ResidualModelContactForce;
331typedef ResidualDataContactForceTpl<double> ResidualDataContactForce;
332typedef ResidualModelContactFrictionConeTpl<double>
333 ResidualModelContactFrictionCone;
334typedef ResidualDataContactFrictionConeTpl<double>
335 ResidualDataContactFrictionCone;
336typedef ResidualModelContactCoPPositionTpl<double>
337 ResidualModelContactCoPPosition;
338typedef ResidualDataContactCoPPositionTpl<double>
339 ResidualDataContactCoPPosition;
340typedef ResidualModelContactWrenchConeTpl<double>
341 ResidualModelContactWrenchCone;
342typedef ResidualDataContactWrenchConeTpl<double> ResidualDataContactWrenchCone;
343typedef ResidualModelContactControlGravTpl<double>
344 ResidualModelContactControlGrav;
345typedef ResidualDataContactControlGravTpl<double>
346 ResidualDataContactControlGrav;
347typedef ResidualModelControlGravTpl<double> ResidualModelControlGrav;
348typedef ResidualDataControlGravTpl<double> ResidualDataControlGrav;
349typedef ResidualModelFramePlacementTpl<double> ResidualModelFramePlacement;
350typedef ResidualDataFramePlacementTpl<double> ResidualDataFramePlacement;
351typedef ResidualModelFrameRotationTpl<double> ResidualModelFrameRotation;
352typedef ResidualDataFrameRotationTpl<double> ResidualDataFrameRotation;
353typedef ResidualModelFrameTranslationTpl<double> ResidualModelFrameTranslation;
354typedef ResidualDataFrameTranslationTpl<double> ResidualDataFrameTranslation;
355typedef ResidualModelFrameVelocityTpl<double> ResidualModelFrameVelocity;
356typedef ResidualDataFrameVelocityTpl<double> ResidualDataFrameVelocity;
357typedef ResidualModelImpulseCoMTpl<double> ResidualModelImpulseCoM;
358typedef ResidualDataImpulseCoMTpl<double> ResidualDataImpulseCoM;
359typedef ResidualModelStateTpl<double> ResidualModelState;
360typedef ResidualDataStateTpl<double> ResidualDataState;
361
362#ifdef PINOCCHIO_WITH_HPP_FCL
363typedef ResidualModelPairCollisionTpl<double> ResidualModelPairCollision;
364typedef ResidualDataPairCollisionTpl<double> ResidualDataPairCollision;
365#endif
366
367typedef TaskModelCentroidalMomentumTpl<double> TaskModelCentroidalMomentum;
368typedef TaskDataCentroidalMomentumTpl<double> TaskDataCentroidalMomentum;
369typedef TaskModelFrameRotationTpl<double> TaskModelFrameRotation;
370typedef TaskDataFrameRotationTpl<double> TaskDataFrameRotation;
371typedef TaskModelFrameTranslationTpl<double> TaskModelFrameTranslation;
372typedef TaskDataFrameTranslationTpl<double> TaskDataFrameTranslation;
373typedef TaskModelFramePlacementTpl<double> TaskModelFramePlacement;
374typedef TaskDataFramePlacementTpl<double> TaskDataFramePlacement;
375typedef TaskModelCoMPositionTpl<double> TaskModelCoMPosition;
376typedef TaskDataCoMPositionTpl<double> TaskDataCoMPosition;
377typedef TaskModelJointPositionTpl<double> TaskModelJointPosition;
378typedef TaskDataJointPositionTpl<double> TaskDataJointPosition;
379
380typedef ImpulseModelAbstractTpl<double> ImpulseModelAbstract;
381typedef ImpulseDataAbstractTpl<double> ImpulseDataAbstract;
382
383enum ContactType {
384 ContactUndefined,
385 Contact1D,
386 Contact2D,
387 Contact3D,
388 Contact6D
389};
390enum ImpulseType { ImpulseUndefined, Impulse3D, Impulse6D };
391
392typedef ContactItemTpl<double> ContactItem;
393typedef ContactModelMultipleTpl<double> ContactModelMultiple;
394typedef ContactDataMultipleTpl<double> ContactDataMultiple;
395typedef ContactModel1DTpl<double> ContactModel1D;
396typedef ContactData1DTpl<double> ContactData1D;
397typedef ContactModel2DTpl<double> ContactModel2D;
398typedef ContactData2DTpl<double> ContactData2D;
399typedef ContactModel3DTpl<double> ContactModel3D;
400typedef ContactData3DTpl<double> ContactData3D;
401typedef ContactModel6DTpl<double> ContactModel6D;
402typedef ContactData6DTpl<double> ContactData6D;
403
404typedef StateMultibodyTpl<double> StateMultibody;
405
406typedef DataCollectorMultibodyTpl<double> DataCollectorMultibody;
407typedef DataCollectorActMultibodyTpl<double> DataCollectorActMultibody;
408typedef DataCollectorJointActMultibodyTpl<double>
409 DataCollectorJointActMultibody;
410typedef DataCollectorContactTpl<double> DataCollectorContact;
411typedef DataCollectorMultibodyInContactTpl<double>
412 DataCollectorMultibodyInContact;
413typedef DataCollectorActMultibodyInContactTpl<double>
414 DataCollectorActMultibodyInContact;
415typedef DataCollectorJointActMultibodyInContactTpl<double>
416 DataCollectorJointActMultibodyInContact;
417typedef DataCollectorImpulseTpl<double> DataCollectorImpulse;
418typedef DataCollectorMultibodyInImpulseTpl<double>
419 DataCollectorMultibodyInImpulse;
420
421typedef ImpulseModel6DTpl<double> ImpulseModel6D;
422typedef ImpulseData6DTpl<double> ImpulseData6D;
423typedef ImpulseModel3DTpl<double> ImpulseModel3D;
424typedef ImpulseData3DTpl<double> ImpulseData3D;
425typedef ImpulseItemTpl<double> ImpulseItem;
426typedef ImpulseModelMultipleTpl<double> ImpulseModelMultiple;
427typedef ImpulseDataMultipleTpl<double> ImpulseDataMultiple;
428
429} // namespace crocoddyl
430
431#endif // CROCODDYL_MULTIBODY_FWD_HPP_
crocoddyl::ActionModelImpulseFwdDynamicsTpl
Action model for impulse forward dynamics in multibody systems.
Definition impulse-fwddyn.hpp:60
crocoddyl::ActuationModelFloatingBaseThrustersTpl
Actuation models for floating base systems actuated with thrusters.
Definition floating-base-thrusters.hpp:146
crocoddyl::ActuationModelFloatingBaseTpl
Floating-base actuation model.
Definition floating-base.hpp:36
crocoddyl::ActuationModelFullTpl
Full actuation model.
Definition full.hpp:32
crocoddyl::CoPSupportTpl
This class encapsulates a center of pressure support of a 6d contact.
Definition cop-support.hpp:28
crocoddyl::ContactModelMultipleTpl
Define a stack of contact models.
Definition multiple-contacts.hpp:61
crocoddyl::CostModelNumDiffTpl
This class computes the numerical differentiation of a cost model.
Definition cost.hpp:32
crocoddyl::DifferentialActionModelContactFwdDynamicsTpl
Differential action model for contact forward dynamics in multibody systems.
Definition contact-fwddyn.hpp:73
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:52
crocoddyl::DifferentialActionModelFreeInvDynamicsTpl
Differential action model for free inverse dynamics in multibody systems.
Definition free-invdyn.hpp:40
crocoddyl::FrictionConeTpl
This class encapsulates a friction cone.
Definition friction-cone.hpp:29
crocoddyl::ImpulseModelMultipleTpl
Define a stack of impulse models.
Definition multiple-impulses.hpp:61
crocoddyl::ResidualModelContactCoPPositionTpl
Center of pressure residual function.
Definition contact-cop-position.hpp:69
crocoddyl::ResidualModelContactControlGravTpl
Control gravity residual under contact.
Definition contact-control-gravity.hpp:40
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:34
crocoddyl::WrenchConeTpl
This class encapsulates a wrench cone.
Definition wrench-cone.hpp:33
crocoddyl::ContactDataMultipleTpl
Define the multi-contact data.
Definition multiple-contacts.hpp:308
crocoddyl::ImpulseDataMultipleTpl
Define the multi-impulse data.
Definition multiple-impulses.hpp:273
crocoddyl::TaskDataCentroidalMomentumTpl
Cached values and derivatives for the centroidal-momentum task.
Definition centroidal-momentum.hpp:143
crocoddyl::TaskDataCoMPositionTpl
Cached values and derivatives for the center-of-mass position task.
Definition com-position.hpp:126
crocoddyl::TaskDataFramePlacementTpl
Cached values and derivatives for the frame-placement task.
Definition frame-placement.hpp:161
crocoddyl::TaskDataFrameRotationTpl
Cached values and derivatives for the frame-rotation task.
Definition frame-rotation.hpp:145
crocoddyl::TaskDataFrameTranslationTpl
Cached values and derivatives for the frame-translation task.
Definition frame-translation.hpp:156
crocoddyl::TaskDataJointPositionTpl
Cached values and derivatives for the joint-position task.
Definition joint-position.hpp:137