9 #ifndef CROCODDYL_CORE_FWD_HPP_
10 #define CROCODDYL_CORE_FWD_HPP_
12 #include "crocoddyl/core/utils/deprecate.hpp"
17 template <
typename Scalar>
18 class ActionModelAbstractTpl;
20 template <
typename Scalar>
21 struct ActionDataAbstractTpl;
23 template <
typename Scalar>
24 class ActionModelUnicycleTpl;
25 template <
typename Scalar>
26 struct ActionDataUnicycleTpl;
28 template <
typename Scalar>
29 class ActionModelLQRTpl;
30 template <
typename Scalar>
31 struct ActionDataLQRTpl;
34 template <
typename Scalar>
35 class DifferentialActionModelAbstractTpl;
36 template <
typename Scalar>
37 struct DifferentialActionDataAbstractTpl;
39 template <
typename Scalar>
40 class DifferentialActionModelLQRTpl;
41 template <
typename Scalar>
42 struct DifferentialActionDataLQRTpl;
45 template <
typename Scalar>
46 class IntegratedActionModelEulerTpl;
47 template <
typename Scalar>
48 struct IntegratedActionDataEulerTpl;
50 template <
typename Scalar>
51 class IntegratedActionModelRK4Tpl;
52 template <
typename Scalar>
53 struct IntegratedActionDataRK4Tpl;
56 template <
typename Scalar>
57 class ResidualModelAbstractTpl;
58 template <
typename Scalar>
59 struct ResidualDataAbstractTpl;
62 template <
typename Scalar>
63 struct ActivationBoundsTpl;
64 template <
typename Scalar>
65 class ActivationModelQuadraticBarrierTpl;
66 template <
typename Scalar>
67 struct ActivationDataQuadraticBarrierTpl;
69 template <
typename Scalar>
70 class ActivationModelWeightedQuadraticBarrierTpl;
72 template <
typename Scalar>
73 class ActivationModelQuadTpl;
75 template <
typename Scalar>
76 class ActivationModelQuadFlatExpTpl;
77 template <
typename Scalar>
78 struct ActivationDataQuadFlatExpTpl;
80 template <
typename Scalar>
81 class ActivationModelQuadFlatLogTpl;
82 template <
typename Scalar>
83 struct ActivationDataQuadFlatLogTpl;
85 template <
typename Scalar>
86 class ActivationModelWeightedQuadTpl;
87 template <
typename Scalar>
88 struct ActivationDataWeightedQuadTpl;
90 template <
typename Scalar>
91 class ActivationModelSmooth1NormTpl;
92 template <
typename Scalar>
93 struct ActivationDataSmooth1NormTpl;
95 template <
typename Scalar>
96 class ActivationModelSmooth2NormTpl;
97 template <
typename Scalar>
100 template <
typename Scalar>
102 template <
typename Scalar>
105 template <
typename Scalar>
107 template <
typename Scalar>
111 template <
typename Scalar>
114 template <
typename Scalar>
118 template <
typename Scalar>
120 template <
typename Scalar>
123 template <
typename Scalar>
125 template <
typename Scalar>
129 template <
typename Scalar>
131 template <
typename Scalar>
134 template <
typename Scalar>
138 template <
typename Scalar>
141 template <
typename Scalar>
145 template <
typename Scalar>
147 template <
typename Scalar>
151 template <
typename Scalar>
153 template <
typename Scalar>
156 template <
typename Scalar>
158 template <
typename Scalar>
160 template <
typename Scalar>
163 template <
typename Scalar>
165 template <
typename Scalar>
168 template <
typename Scalar>
172 template <
typename Scalar>
176 template <
typename Scalar>
178 template <
typename Scalar>
181 template <
typename Scalar>
183 template <
typename Scalar>
186 template <
typename Scalar>
188 template <
typename Scalar>
191 template <
typename Scalar>
193 template <
typename Scalar>
196 template <
typename Scalar>
199 template <
typename Scalar>
201 template <
typename Scalar>
204 template <
typename Scalar>
207 template <
typename Scalar>
Abstract class for action model.
This class computes the numerical differentiation of an ActionModel.
Quadratic-flat-log activation.
Abstract class for cost models.
Summation of individual cost models.
Abstract class for differential action model.
Abstract class for residual models.
Define a control residual.
This class encapsulates a shooting problem.
Abstract class for the state representation.