9 #ifndef CROCODDYL_CORE_FWD_HPP_ 10 #define CROCODDYL_CORE_FWD_HPP_ 12 #include "crocoddyl/core/utils/deprecate.hpp" 16 inline bool& enableMultithreading() {
17 static bool enable =
true;
21 enum AssignmentOp { setto, addto, rmfrom };
23 inline bool is_a_AssignmentOp(AssignmentOp op) {
return (op == setto || op == addto || op == rmfrom); }
26 template <
typename Scalar>
27 class ActionModelAbstractTpl;
29 template <
typename Scalar>
30 struct ActionDataAbstractTpl;
32 template <
typename Scalar>
33 class ActionModelUnicycleTpl;
34 template <
typename Scalar>
35 struct ActionDataUnicycleTpl;
37 template <
typename Scalar>
38 class ActionModelLQRTpl;
39 template <
typename Scalar>
40 struct ActionDataLQRTpl;
43 template <
typename Scalar>
44 class DifferentialActionModelAbstractTpl;
45 template <
typename Scalar>
46 struct DifferentialActionDataAbstractTpl;
48 template <
typename Scalar>
49 class DifferentialActionModelLQRTpl;
50 template <
typename Scalar>
51 struct DifferentialActionDataLQRTpl;
54 template <
typename Scalar>
56 template <
typename Scalar>
59 template <
typename Scalar>
61 template <
typename Scalar>
64 template <
typename Scalar>
66 template <
typename Scalar>
69 template <
typename Scalar>
71 template <
typename Scalar>
75 template <
typename Scalar>
77 template <
typename Scalar>
81 template <
typename Scalar>
83 template <
typename Scalar>
85 template <
typename Scalar>
88 template <
typename Scalar>
91 template <
typename Scalar>
94 template <
typename Scalar>
96 template <
typename Scalar>
99 template <
typename Scalar>
101 template <
typename Scalar>
104 template <
typename Scalar>
106 template <
typename Scalar>
109 template <
typename Scalar>
111 template <
typename Scalar>
114 template <
typename Scalar>
116 template <
typename Scalar>
119 template <
typename Scalar>
121 template <
typename Scalar>
124 template <
typename Scalar>
126 template <
typename Scalar>
130 template <
typename Scalar>
133 template <
typename Scalar>
137 template <
typename Scalar>
139 template <
typename Scalar>
142 template <
typename Scalar>
145 template <
typename Scalar>
147 template <
typename Scalar>
150 template <
typename Scalar>
152 template <
typename Scalar>
156 template <
typename Scalar>
158 template <
typename Scalar>
161 template <
typename Scalar>
163 template <
typename Scalar>
167 template <
typename Scalar>
169 template <
typename Scalar>
172 template <
typename Scalar>
176 template <
typename Scalar>
179 template <
typename Scalar>
183 template <
typename Scalar>
185 template <
typename Scalar>
189 template <
typename Scalar>
191 template <
typename Scalar>
194 template <
typename Scalar>
196 template <
typename Scalar>
198 template <
typename Scalar>
201 template <
typename Scalar>
203 template <
typename Scalar>
206 template <
typename Scalar>
210 template <
typename Scalar>
214 template <
typename Scalar>
216 template <
typename Scalar>
219 template <
typename Scalar>
221 template <
typename Scalar>
224 template <
typename Scalar>
226 template <
typename Scalar>
229 template <
typename Scalar>
231 template <
typename Scalar>
234 template <
typename Scalar>
237 template <
typename Scalar>
239 template <
typename Scalar>
242 template <
typename Scalar>
244 template <
typename Scalar>
247 template <
typename Scalar>
250 template <
typename Scalar>
355 #endif // CROCODDYL_CORE_FWD_HPP_
Abstract class for action model.
Abstract class for cost models.
This class computes the numerical differentiation of a differential action model. ...
2-norm barrier activation
Define a control residual.
Abstract class for differential action model.
Quadratic-flat-log activation.
Abstract class for the state representation.
A polynomial function of time of degree zero, that is a constant.
This class computes the numerical differentiation of a residual model.
This class encapsulates a shooting problem.
Symplectic Euler integrator.
Abstract class for the control trajectory parametrization.
Abstract class for residual models.
Abstract class for an integrated action model.
This class computes the numerical differentiation of an actuation model.
Summation of individual cost models.
A polynomial function of time of degree one, that is a linear function.
This class computes the numerical differentiation of an action model.
Abstract class for the actuation-mapping model.
A polynomial function of time of degree two, that is a quadratic function.