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_
crocoddyl::DifferentialActionDataLQRTpl
Definition: diff-lqr.hpp:85
crocoddyl::ActionDataAbstractTpl
Definition: action-base.hpp:224
crocoddyl::ActuationSquashingModelTpl
Definition: actuation-squashing.hpp:19
crocoddyl::ActivationModelWeightedQuadraticBarrierTpl
Definition: weighted-quadratic-barrier.hpp:19
crocoddyl::DataCollectorAbstractTpl
Definition: data-collector-base.hpp:18
crocoddyl::ActivationDataSmooth2NormTpl
Definition: fwd.hpp:92
crocoddyl::ActuationModelAbstractTpl
Definition: actuation-base.hpp:25
crocoddyl::ActivationDataQuadFlatExpTpl
Definition: quadratic-flat-exp.hpp:127
crocoddyl::ActionModelUnicycleTpl
Definition: unicycle.hpp:20
crocoddyl::ActivationModelQuadraticBarrierTpl
Definition: quadratic-barrier.hpp:80
crocoddyl::CostModelControlTpl
Control cost.
Definition: control.hpp:35
crocoddyl::CostDataSumTpl
Definition: cost-sum.hpp:221
crocoddyl::DifferentialActionModelNumDiffTpl
Definition: fwd.hpp:160
crocoddyl::CostModelAbstractTpl
Abstract class for cost models.
Definition: cost-base.hpp:47
crocoddyl::ActivationModelSmooth2NormTpl
Smooth-2Norm activation.
Definition: smooth-2norm.hpp:33
crocoddyl::ActivationDataQuadFlatLogTpl
Definition: quadratic-flat-log.hpp:125
crocoddyl::ShootingProblemTpl
This class encapsulates a shooting problem.
Definition: fwd.hpp:151
crocoddyl::ActivationModelQuadTpl
Definition: quadratic.hpp:20
crocoddyl::CostModelSumTpl
Summation of individual cost models.
Definition: cost-sum.hpp:57
crocoddyl::IntegratedActionModelEulerTpl
Definition: fwd.hpp:46
crocoddyl::ActivationBoundsTpl
Definition: quadratic-barrier.hpp:24
crocoddyl::ActionModelLQRTpl
Definition: lqr.hpp:21
crocoddyl::ActionDataCodeGenTpl
Definition: action-base.hpp:21
crocoddyl::DifferentialActionModelLQRTpl
Definition: diff-lqr.hpp:21
crocoddyl::DataCollectorActuationTpl
Definition: actuation.hpp:21
crocoddyl::CostItemTpl
Definition: cost-sum.hpp:23
crocoddyl::ActivationModelQuadFlatExpTpl
Definition: quadratic-flat-exp.hpp:34
crocoddyl::SquashingModelAbstractTpl
Definition: squashing-base.hpp:23
crocoddyl::DifferentialActionDataAbstractTpl
Definition: diff-action-base.hpp:218
crocoddyl::StateVectorTpl
Definition: fwd.hpp:104
crocoddyl::ActionModelAbstractTpl
Abstract class for action model.
Definition: action-base.hpp:60
crocoddyl::IntegratedActionDataRK4Tpl
Definition: fwd.hpp:53
crocoddyl::ActuationDataNumDiffTpl
Definition: fwd.hpp:175
crocoddyl::ActivationModelWeightedQuadTpl
Definition: weighted-quadratic.hpp:21
crocoddyl::ActivationDataWeightedQuadTpl
Definition: weighted-quadratic.hpp:101
crocoddyl::SquashingModelSmoothSatTpl
Definition: smooth-sat.hpp:22
crocoddyl::ActionDataNumDiffTpl
Definition: fwd.hpp:157
crocoddyl::ActivationModelNumDiffTpl
Definition: fwd.hpp:165
crocoddyl::ActionModelNumDiffTpl
This class computes the numerical differentiation of an ActionModel.
Definition: fwd.hpp:155
crocoddyl::ActionDataUnicycleTpl
Definition: unicycle.hpp:63
crocoddyl::CostDataAbstractTpl
Definition: cost-base.hpp:200
crocoddyl::StateNumDiffTpl
Definition: fwd.hpp:170
crocoddyl::ActionModelCodeGenTpl
Definition: action-base.hpp:24
crocoddyl::ActivationModelSmooth1NormTpl
Smooth-abs activation.
Definition: smooth-1norm.hpp:34
crocoddyl::ActivationDataNumDiffTpl
Definition: fwd.hpp:167
crocoddyl::ActionDataLQRTpl
Definition: lqr.hpp:82
crocoddyl::ActuationDataAbstractTpl
Definition: actuation-base.hpp:61
crocoddyl::ActivationDataSmooth1NormTpl
Definition: smooth-1norm.hpp:116
crocoddyl::DifferentialActionModelAbstractTpl
Abstract class for differential action model.
Definition: diff-action-base.hpp:54
crocoddyl::ActivationModelQuadFlatLogTpl
Quadratic-flat-log activation.
Definition: quadratic-flat-log.hpp:33
crocoddyl::IntegratedActionDataEulerTpl
Definition: fwd.hpp:48
crocoddyl::StateAbstractTpl
Abstract class for the state representation.
Definition: fwd.hpp:101
crocoddyl::ActivationDataQuadraticBarrierTpl
Definition: quadratic-barrier.hpp:143
crocoddyl::DifferentialActionDataNumDiffTpl
Definition: fwd.hpp:162
crocoddyl::ActivationModelAbstractTpl
Definition: activation-base.hpp:23
crocoddyl::IntegratedActionModelRK4Tpl
Definition: fwd.hpp:51
crocoddyl::ActuationSquashingDataTpl
Definition: actuation-squashing.hpp:70
crocoddyl::ActivationDataAbstractTpl
Definition: activation-base.hpp:50
crocoddyl::SquashingDataAbstractTpl
Definition: squashing-base.hpp:62
crocoddyl::ActuationModelNumDiffTpl
Definition: fwd.hpp:173