crocoddyl  1.6.0
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 template <typename Scalar>
101 template <typename Scalar>
103 
104 // state
105 template <typename Scalar>
107 
108 template <typename Scalar>
110 
111 // actuation
112 template <typename Scalar>
114 template <typename Scalar>
116 
117 template <typename Scalar>
119 template <typename Scalar>
121 
122 // squashing
123 template <typename Scalar>
125 template <typename Scalar>
127 
128 template <typename Scalar>
130 
131 // data collector
132 template <typename Scalar>
134 
135 template <typename Scalar>
137 
138 // cost
139 template <typename Scalar>
141 template <typename Scalar>
142 struct CostDataAbstractTpl;
143 
144 template <typename Scalar>
145 struct CostItemTpl;
146 template <typename Scalar>
147 class CostModelSumTpl;
148 template <typename Scalar>
149 struct CostDataSumTpl;
150 
151 template <typename Scalar>
152 class CostModelControlTpl;
153 
154 // shooting
155 template <typename Scalar>
157 
158 // Numdiff
159 template <typename Scalar>
161 template <typename Scalar>
163 
164 template <typename Scalar>
166 template <typename Scalar>
168 
169 template <typename Scalar>
171 template <typename Scalar>
173 
174 template <typename Scalar>
176 
177 template <typename Scalar>
179 template <typename Scalar>
181 
182 template <typename Scalar>
184 
185 template <typename Scalar>
186 struct ActionDataCodeGenTpl;
187 
188 /********************Template Instantiation*************/
195 
200 
205 
219 DEPRECATED("Use ActivationModelSmooth1Norm", typedef ActivationModelSmooth1NormTpl<double> ActivationModelSmoothAbs;)
220 DEPRECATED("Use ActivationDataSmooth1Norm", typedef ActivationDataSmooth1NormTpl<double> ActivationDataSmoothAbs;)
227 
230 
235 
239 
242 
249 
251 
261 
264 
265 } // namespace crocoddyl
266 
267 #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:106
This class encapsulates a shooting problem.
Definition: fwd.hpp:156
Summation of individual cost models.
Definition: cost-sum.hpp:57
This class computes the numerical differentiation of an ActionModel.
Definition: fwd.hpp:160