crocoddyl  1.3.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
fwd.hpp
1 // BSD 3-Clause License
3 //
4 // Copyright (C) 2018-2020, 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 namespace crocoddyl {
13 
14 // differential action
15 template <typename Scalar>
16 class DifferentialActionModelAbstractTpl;
17 template <typename Scalar>
18 struct DifferentialActionDataAbstractTpl;
19 
20 template <typename Scalar>
21 class DifferentialActionModelLQRTpl;
22 template <typename Scalar>
23 struct DifferentialActionDataLQRTpl;
24 
25 // action
26 template <typename Scalar>
27 class ActionModelUnicycleTpl;
28 template <typename Scalar>
29 struct ActionDataUnicycleTpl;
30 
31 template <typename Scalar>
32 class ActionModelLQRTpl;
33 template <typename Scalar>
34 struct ActionDataLQRTpl;
35 
36 // data collector
37 template <typename Scalar>
38 struct DataCollectorAbstractTpl;
39 
40 // activation
41 template <typename Scalar>
42 struct ActivationBoundsTpl;
43 template <typename Scalar>
44 class ActivationModelQuadraticBarrierTpl;
45 template <typename Scalar>
46 struct ActivationDataQuadraticBarrierTpl;
47 
48 template <typename Scalar>
49 class ActivationModelWeightedQuadraticBarrierTpl;
50 
51 template <typename Scalar>
52 class ActivationModelQuadTpl;
53 
54 template <typename Scalar>
55 class ActivationModelWeightedQuadTpl;
56 template <typename Scalar>
57 struct ActivationDataWeightedQuadTpl;
58 
59 template <typename Scalar>
60 class ActivationModelSmoothAbsTpl;
61 template <typename Scalar>
62 struct ActivationDataSmoothAbsTpl;
63 
64 template <typename Scalar>
65 class ActivationModelAbstractTpl;
66 template <typename Scalar>
67 struct ActivationDataAbstractTpl;
68 
69 // state
70 template <typename Scalar>
72 
73 // actuation
74 template <typename Scalar>
76 template <typename Scalar>
78 
79 template <typename Scalar>
81 template <typename Scalar>
83 
84 // squashing
85 template <typename Scalar>
87 template <typename Scalar>
89 
90 template <typename Scalar>
92 
93 // shooting
94 template <typename Scalar>
96 
97 // integrated action
98 template <typename Scalar>
100 template <typename Scalar>
102 
103 // state
104 template <typename Scalar>
106 
107 // data collector
108 template <typename Scalar>
110 
111 // ActionData
112 template <typename Scalar>
113 struct ActionDataAbstractTpl;
114 
115 template <typename Scalar>
117 
118 // Numdiff
119 template <typename Scalar>
121 template <typename Scalar>
123 
124 template <typename Scalar>
126 template <typename Scalar>
128 
129 template <typename Scalar>
131 template <typename Scalar>
133 
134 template <typename Scalar>
136 
137 template <typename Scalar>
139 template <typename Scalar>
141 
142 template <typename Scalar>
144 
145 template <typename Scalar>
146 struct ActionDataCodeGenTpl;
147 
148 /********************Template Instantiation*************/
153 
158 
160 
172 
174 
179 
183 
185 
188 
190 
192 
195 
205 
208 
209 } // namespace crocoddyl
210 
211 #endif // CROCODDYL_CORE_FWD_HPP_
This class DifferentialActionModelAbstract represents a first-order ODE, i.e. where and represents ...
This class abstract state representations.
Definition: fwd.hpp:71
This class computes the numerical differentiation of an ActionModel.
Definition: fwd.hpp:120