crocoddyl  1.7.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
fwd.hpp
1 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2020, LAAS-CNRS, University of Edinburgh
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
8 
9 #ifndef CROCODDYL_CORE_FWD_HPP_
10 #define CROCODDYL_CORE_FWD_HPP_
11 
12 #include "crocoddyl/core/utils/deprecate.hpp"
13 
14 namespace crocoddyl {
15 
16 // action
17 template <typename Scalar>
18 class ActionModelAbstractTpl;
19 
20 template <typename Scalar>
21 struct ActionDataAbstractTpl;
22 
23 template <typename Scalar>
24 class ActionModelUnicycleTpl;
25 template <typename Scalar>
26 struct ActionDataUnicycleTpl;
27 
28 template <typename Scalar>
29 class ActionModelLQRTpl;
30 template <typename Scalar>
31 struct ActionDataLQRTpl;
32 
33 // differential action
34 template <typename Scalar>
35 class DifferentialActionModelAbstractTpl;
36 template <typename Scalar>
37 struct DifferentialActionDataAbstractTpl;
38 
39 template <typename Scalar>
40 class DifferentialActionModelLQRTpl;
41 template <typename Scalar>
42 struct DifferentialActionDataLQRTpl;
43 
44 // integrated action
45 template <typename Scalar>
47 template <typename Scalar>
49 
50 template <typename Scalar>
52 template <typename Scalar>
54 
55 // activation
56 template <typename Scalar>
57 struct ActivationBoundsTpl;
58 template <typename Scalar>
60 template <typename Scalar>
62 
63 template <typename Scalar>
65 
66 template <typename Scalar>
68 
69 template <typename Scalar>
71 template <typename Scalar>
73 
74 template <typename Scalar>
76 template <typename Scalar>
78 
79 template <typename Scalar>
81 template <typename Scalar>
83 
84 template <typename Scalar>
86 template <typename Scalar>
88 
89 template <typename Scalar>
91 template <typename Scalar>
93 
94 template <typename Scalar>
96 template <typename Scalar>
98 
99 // state
100 template <typename Scalar>
102 
103 template <typename Scalar>
105 
106 // actuation
107 template <typename Scalar>
109 template <typename Scalar>
111 
112 template <typename Scalar>
114 template <typename Scalar>
116 
117 // squashing
118 template <typename Scalar>
120 template <typename Scalar>
122 
123 template <typename Scalar>
125 
126 // data collector
127 template <typename Scalar>
129 
130 template <typename Scalar>
132 
133 // cost
134 template <typename Scalar>
136 template <typename Scalar>
137 struct CostDataAbstractTpl;
138 
139 template <typename Scalar>
140 struct CostItemTpl;
141 template <typename Scalar>
142 class CostModelSumTpl;
143 template <typename Scalar>
144 struct CostDataSumTpl;
145 
146 template <typename Scalar>
147 class CostModelControlTpl;
148 
149 // shooting
150 template <typename Scalar>
152 
153 // Numdiff
154 template <typename Scalar>
156 template <typename Scalar>
158 
159 template <typename Scalar>
161 template <typename Scalar>
163 
164 template <typename Scalar>
166 template <typename Scalar>
168 
169 template <typename Scalar>
171 
172 template <typename Scalar>
174 template <typename Scalar>
176 
177 template <typename Scalar>
179 
180 template <typename Scalar>
181 struct ActionDataCodeGenTpl;
182 
183 /********************Template Instantiation*************/
190 
195 
200 
212 DEPRECATED("Use ActivationModelSmooth1Norm", typedef ActivationModelSmooth1NormTpl<double> ActivationModelSmoothAbs;)
213 DEPRECATED("Use ActivationDataSmooth1Norm", typedef ActivationDataSmooth1NormTpl<double> ActivationDataSmoothAbs;)
220 
223 
228 
232 
235 
242 
244 
254 
257 
258 } // namespace crocoddyl
259 
260 #endif // CROCODDYL_CORE_FWD_HPP_
Abstract class for action model.
Definition: action-base.hpp:60
Abstract class for cost models.
Definition: cost-base.hpp:47
Abstract class for differential action model.
Abstract class for the state representation.
Definition: fwd.hpp:101
This class encapsulates a shooting problem.
Definition: fwd.hpp:151
Summation of individual cost models.
Definition: cost-sum.hpp:57
This class computes the numerical differentiation of an ActionModel.
Definition: fwd.hpp:155