crocoddyl
1.8.1
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
fwd.hpp
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// BSD 3-Clause License
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//
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// Copyright (C) 2019-2021, LAAS-CNRS, University of Edinburgh
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// Copyright note valid unless otherwise stated in individual files.
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// All rights reserved.
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#ifndef CROCODDYL_CORE_FWD_HPP_
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#define CROCODDYL_CORE_FWD_HPP_
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#include "crocoddyl/core/utils/deprecate.hpp"
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namespace
crocoddyl {
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// action
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template
<
typename
Scalar>
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class
ActionModelAbstractTpl;
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template
<
typename
Scalar>
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struct
ActionDataAbstractTpl;
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template
<
typename
Scalar>
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class
ActionModelUnicycleTpl;
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template
<
typename
Scalar>
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struct
ActionDataUnicycleTpl;
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template
<
typename
Scalar>
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class
ActionModelLQRTpl;
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template
<
typename
Scalar>
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struct
ActionDataLQRTpl;
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// differential action
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template
<
typename
Scalar>
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class
DifferentialActionModelAbstractTpl;
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template
<
typename
Scalar>
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struct
DifferentialActionDataAbstractTpl;
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template
<
typename
Scalar>
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class
DifferentialActionModelLQRTpl;
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template
<
typename
Scalar>
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struct
DifferentialActionDataLQRTpl;
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// integrated action
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template
<
typename
Scalar>
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class
IntegratedActionModelEulerTpl
;
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template
<
typename
Scalar>
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struct
IntegratedActionDataEulerTpl
;
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template
<
typename
Scalar>
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class
IntegratedActionModelRK4Tpl
;
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template
<
typename
Scalar>
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struct
IntegratedActionDataRK4Tpl
;
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// residual
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template
<
typename
Scalar>
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class
ResidualModelAbstractTpl
;
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template
<
typename
Scalar>
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struct
ResidualDataAbstractTpl
;
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// activation
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template
<
typename
Scalar>
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struct
ActivationBoundsTpl
;
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template
<
typename
Scalar>
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class
ActivationModelQuadraticBarrierTpl
;
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template
<
typename
Scalar>
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struct
ActivationDataQuadraticBarrierTpl
;
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template
<
typename
Scalar>
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class
ActivationModelWeightedQuadraticBarrierTpl
;
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template
<
typename
Scalar>
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class
ActivationModelQuadTpl
;
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template
<
typename
Scalar>
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class
ActivationModelQuadFlatExpTpl
;
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template
<
typename
Scalar>
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struct
ActivationDataQuadFlatExpTpl
;
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template
<
typename
Scalar>
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class
ActivationModelQuadFlatLogTpl
;
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template
<
typename
Scalar>
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struct
ActivationDataQuadFlatLogTpl
;
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template
<
typename
Scalar>
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class
ActivationModelWeightedQuadTpl
;
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template
<
typename
Scalar>
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struct
ActivationDataWeightedQuadTpl
;
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template
<
typename
Scalar>
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class
ActivationModelSmooth1NormTpl
;
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template
<
typename
Scalar>
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struct
ActivationDataSmooth1NormTpl
;
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template
<
typename
Scalar>
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class
ActivationModelSmooth2NormTpl
;
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template
<
typename
Scalar>
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struct
ActivationDataSmooth2NormTpl
;
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template
<
typename
Scalar>
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class
ActivationModel2NormBarrierTpl
;
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template
<
typename
Scalar>
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struct
ActivationData2NormBarrierTpl
;
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template
<
typename
Scalar>
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class
ActivationModelAbstractTpl
;
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template
<
typename
Scalar>
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struct
ActivationDataAbstractTpl
;
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// state
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template
<
typename
Scalar>
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class
StateAbstractTpl
;
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template
<
typename
Scalar>
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class
StateVectorTpl
;
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// actuation
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template
<
typename
Scalar>
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class
ActuationModelAbstractTpl
;
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template
<
typename
Scalar>
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struct
ActuationDataAbstractTpl
;
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template
<
typename
Scalar>
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class
ActuationSquashingModelTpl
;
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template
<
typename
Scalar>
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struct
ActuationSquashingDataTpl
;
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// squashing
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template
<
typename
Scalar>
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class
SquashingModelAbstractTpl
;
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template
<
typename
Scalar>
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struct
SquashingDataAbstractTpl
;
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template
<
typename
Scalar>
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class
SquashingModelSmoothSatTpl
;
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// data collector
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template
<
typename
Scalar>
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struct
DataCollectorAbstractTpl
;
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template
<
typename
Scalar>
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struct
DataCollectorActuationTpl
;
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// residual
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template
<
typename
Scalar>
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class
ResidualModelControlTpl
;
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template
<
typename
Scalar>
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struct
ResidualDataControlTpl
;
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// cost
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template
<
typename
Scalar>
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class
CostModelAbstractTpl
;
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template
<
typename
Scalar>
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struct
CostDataAbstractTpl
;
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template
<
typename
Scalar>
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struct
CostItemTpl
;
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template
<
typename
Scalar>
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class
CostModelSumTpl
;
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template
<
typename
Scalar>
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struct
CostDataSumTpl
;
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template
<
typename
Scalar>
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class
CostModelResidualTpl
;
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template
<
typename
Scalar>
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struct
CostDataResidualTpl
;
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template
<
typename
Scalar>
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class
CostModelControlTpl
;
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// shooting
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template
<
typename
Scalar>
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class
ShootingProblemTpl
;
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// Numdiff
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template
<
typename
Scalar>
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class
ActionModelNumDiffTpl
;
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template
<
typename
Scalar>
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struct
ActionDataNumDiffTpl
;
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template
<
typename
Scalar>
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class
DifferentialActionModelNumDiffTpl
;
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template
<
typename
Scalar>
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struct
DifferentialActionDataNumDiffTpl
;
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template
<
typename
Scalar>
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class
ActivationModelNumDiffTpl
;
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template
<
typename
Scalar>
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struct
ActivationDataNumDiffTpl
;
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template
<
typename
Scalar>
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class
ResidualModelNumDiffTpl
;
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template
<
typename
Scalar>
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struct
ResidualDataNumDiffTpl
;
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template
<
typename
Scalar>
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class
StateNumDiffTpl
;
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template
<
typename
Scalar>
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class
ActuationModelNumDiffTpl
;
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template
<
typename
Scalar>
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struct
ActuationDataNumDiffTpl
;
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template
<
typename
Scalar>
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class
ActionModelCodeGenTpl
;
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template
<
typename
Scalar>
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struct
ActionDataCodeGenTpl
;
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/********************Template Instantiation*************/
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typedef
ActionModelAbstractTpl<double>
ActionModelAbstract
;
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typedef
ActionDataAbstractTpl<double>
ActionDataAbstract
;
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typedef
ActionModelUnicycleTpl<double>
ActionModelUnicycle
;
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typedef
ActionDataUnicycleTpl<double>
ActionDataUnicycle
;
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typedef
ActionModelLQRTpl<double>
ActionModelLQR
;
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typedef
ActionDataLQRTpl<double>
ActionDataLQR
;
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typedef
DifferentialActionModelAbstractTpl<double>
DifferentialActionModelAbstract
;
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typedef
DifferentialActionDataAbstractTpl<double>
DifferentialActionDataAbstract
;
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typedef
DifferentialActionModelLQRTpl<double>
DifferentialActionModelLQR
;
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typedef
DifferentialActionDataLQRTpl<double>
DifferentialActionDataLQR
;
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typedef
IntegratedActionModelEulerTpl<double>
IntegratedActionModelEuler
;
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typedef
IntegratedActionDataEulerTpl<double>
IntegratedActionDataEuler
;
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typedef
IntegratedActionModelRK4Tpl<double>
IntegratedActionModelRK4
;
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typedef
IntegratedActionDataRK4Tpl<double>
IntegratedActionDataRK4
;
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typedef
ResidualModelAbstractTpl<double>
ResidualModelAbstract
;
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typedef
ResidualDataAbstractTpl<double>
ResidualDataAbstract
;
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typedef
ResidualModelControlTpl<double>
ResidualModelControl
;
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typedef
ResidualDataControlTpl<double>
ResidualDataControl
;
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typedef
ActivationDataQuadraticBarrierTpl<double>
ActivationDataQuadraticBarrier
;
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typedef
ActivationModelQuadraticBarrierTpl<double>
ActivationModelQuadraticBarrier
;
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typedef
ActivationBoundsTpl<double>
ActivationBounds
;
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typedef
ActivationModelWeightedQuadraticBarrierTpl<double>
ActivationModelWeightedQuadraticBarrier
;
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typedef
ActivationModelQuadTpl<double>
ActivationModelQuad
;
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typedef
ActivationModelQuadFlatExpTpl<double>
ActivationModelQuadFlatExp
;
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typedef
ActivationDataQuadFlatExpTpl<double>
ActivationDataQuadFlatExp
;
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typedef
ActivationModelQuadFlatLogTpl<double>
ActivationModelQuadFlatLog
;
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typedef
ActivationDataQuadFlatLogTpl<double>
ActivationDataQuadFlatLog
;
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typedef
ActivationModelWeightedQuadTpl<double>
ActivationModelWeightedQuad
;
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typedef
ActivationDataWeightedQuadTpl<double>
ActivationDataWeightedQuad
;
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DEPRECATED(
"Use ActivationModelSmooth1Norm"
,
typedef
ActivationModelSmooth1NormTpl<double>
ActivationModelSmoothAbs;)
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DEPRECATED(
"Use ActivationDataSmooth1Norm"
,
typedef
ActivationDataSmooth1NormTpl<double>
ActivationDataSmoothAbs;)
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typedef
ActivationModelSmooth1NormTpl<double>
ActivationModelSmooth1Norm
;
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typedef
ActivationDataSmooth1NormTpl<double>
ActivationDataSmooth1Norm
;
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typedef
ActivationModelSmooth2NormTpl<double>
ActivationModelSmooth2Norm
;
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typedef
ActivationDataSmooth2NormTpl<double>
ActivationDataSmooth2Norm
;
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typedef
ActivationModel2NormBarrierTpl<double>
ActivationModel2NormBarrier
;
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typedef
ActivationData2NormBarrierTpl<double>
ActivationData2NormBarrier
;
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typedef
ActivationModelAbstractTpl<double>
ActivationModelAbstract
;
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typedef
ActivationDataAbstractTpl<double>
ActivationDataAbstract
;
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typedef
StateAbstractTpl<double>
StateAbstract
;
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typedef
StateVectorTpl<double>
StateVector
;
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typedef
ActuationDataAbstractTpl<double>
ActuationDataAbstract
;
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typedef
ActuationModelAbstractTpl<double>
ActuationModelAbstract
;
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typedef
ActuationSquashingDataTpl<double>
ActuationSquashingData
;
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typedef
ActuationSquashingModelTpl<double>
ActuationSquashingModel
;
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typedef
SquashingDataAbstractTpl<double>
SquashingDataAbstract
;
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typedef
SquashingModelAbstractTpl<double>
SquashingModelAbstract
;
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typedef
SquashingModelSmoothSatTpl<double>
SquashingModelSmoothSat
;
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typedef
DataCollectorAbstractTpl<double>
DataCollectorAbstract
;
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typedef
DataCollectorActuationTpl<double>
DataCollectorActuation
;
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typedef
CostModelAbstractTpl<double>
CostModelAbstract
;
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typedef
CostDataAbstractTpl<double>
CostDataAbstract
;
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typedef
CostItemTpl<double>
CostItem
;
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typedef
CostModelSumTpl<double>
CostModelSum
;
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typedef
CostDataSumTpl<double>
CostDataSum
;
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typedef
CostModelResidualTpl<double>
CostModelResidual
;
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typedef
CostDataResidualTpl<double>
CostDataResidual
;
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DEPRECATED(
"Use ResidualModelControl with CostModelResidual"
,
typedef
CostModelControlTpl<double>
CostModelControl;)
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typedef
ShootingProblemTpl<double>
ShootingProblem
;
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typedef
ActionModelNumDiffTpl<double>
ActionModelNumDiff
;
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typedef
ActionDataNumDiffTpl<double>
ActionDataNumDiff
;
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typedef
DifferentialActionModelNumDiffTpl<double>
DifferentialActionModelNumDiff
;
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typedef
DifferentialActionDataNumDiffTpl<double>
DifferentialActionDataNumDiff
;
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typedef
ActivationModelNumDiffTpl<double>
ActivationModelNumDiff
;
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typedef
ActivationDataNumDiffTpl<double>
ActivationDataNumDiff
;
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typedef
ResidualModelNumDiffTpl<double>
ResidualModelNumDiff
;
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typedef
ResidualDataNumDiffTpl<double>
ResidualDataNumDiff
;
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typedef
StateNumDiffTpl<double>
StateNumDiff
;
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typedef
ActuationModelNumDiffTpl<double>
ActuationModelNumDiff
;
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typedef
ActuationDataNumDiffTpl<double>
ActuationDataNumDiff
;
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typedef
ActionModelCodeGenTpl<double>
ActionModelCodeGen
;
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typedef
ActionDataCodeGenTpl<double>
ActionDataCodeGen
;
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}
// namespace crocoddyl
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#endif // CROCODDYL_CORE_FWD_HPP_
crocoddyl::DifferentialActionDataLQRTpl
Definition:
diff-lqr.hpp:87
crocoddyl::ActionDataAbstractTpl
Definition:
action-base.hpp:231
crocoddyl::ActuationSquashingModelTpl
Definition:
actuation-squashing.hpp:19
crocoddyl::ActivationModelWeightedQuadraticBarrierTpl
Definition:
weighted-quadratic-barrier.hpp:20
crocoddyl::CostModelResidualTpl
Residual-based cost.
Definition:
residual.hpp:36
crocoddyl::DataCollectorAbstractTpl
Definition:
data-collector-base.hpp:18
crocoddyl::ActivationDataSmooth2NormTpl
Definition:
fwd.hpp:98
crocoddyl::ActuationModelAbstractTpl
Definition:
actuation-base.hpp:25
crocoddyl::ActivationDataQuadFlatExpTpl
Definition:
quadratic-flat-exp.hpp:136
crocoddyl::ActionModelUnicycleTpl
Definition:
unicycle.hpp:20
crocoddyl::ActivationModelQuadraticBarrierTpl
Definition:
quadratic-barrier.hpp:86
crocoddyl::CostModelControlTpl
Control cost.
Definition:
control.hpp:35
crocoddyl::CostDataSumTpl
Definition:
cost-sum.hpp:235
crocoddyl::DifferentialActionModelNumDiffTpl
Definition:
fwd.hpp:182
crocoddyl::CostModelAbstractTpl
Abstract class for cost models.
Definition:
cost-base.hpp:49
crocoddyl::ActivationModelSmooth2NormTpl
Smooth-2Norm activation.
Definition:
smooth-2norm.hpp:33
crocoddyl::ActivationDataQuadFlatLogTpl
Definition:
quadratic-flat-log.hpp:134
crocoddyl::ShootingProblemTpl
This class encapsulates a shooting problem.
Definition:
fwd.hpp:173
crocoddyl::ResidualModelControlTpl
Define a control residual.
Definition:
fwd.hpp:146
crocoddyl::ActivationData2NormBarrierTpl
Definition:
fwd.hpp:103
crocoddyl::ActivationModelQuadTpl
Definition:
quadratic.hpp:20
crocoddyl::CostModelSumTpl
Summation of individual cost models.
Definition:
cost-sum.hpp:65
crocoddyl::IntegratedActionModelEulerTpl
Definition:
fwd.hpp:46
crocoddyl::ActivationBoundsTpl
Definition:
quadratic-barrier.hpp:23
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::ResidualDataNumDiffTpl
Definition:
fwd.hpp:194
crocoddyl::ActivationModelQuadFlatExpTpl
Definition:
quadratic-flat-exp.hpp:34
crocoddyl::ResidualModelNumDiffTpl
Definition:
fwd.hpp:192
crocoddyl::SquashingModelAbstractTpl
Definition:
squashing-base.hpp:23
crocoddyl::DifferentialActionDataAbstractTpl
Definition:
diff-action-base.hpp:224
crocoddyl::StateVectorTpl
Definition:
fwd.hpp:115
crocoddyl::ActionModelAbstractTpl
Abstract class for action model.
Definition:
action-base.hpp:60
crocoddyl::IntegratedActionDataRK4Tpl
Definition:
fwd.hpp:53
crocoddyl::ResidualDataControlTpl
Definition:
fwd.hpp:148
crocoddyl::ActuationDataNumDiffTpl
Definition:
fwd.hpp:202
crocoddyl::ActivationModelWeightedQuadTpl
Definition:
weighted-quadratic.hpp:21
crocoddyl::ActivationDataWeightedQuadTpl
Definition:
weighted-quadratic.hpp:108
crocoddyl::ResidualDataAbstractTpl
Definition:
fwd.hpp:59
crocoddyl::SquashingModelSmoothSatTpl
Definition:
smooth-sat.hpp:22
crocoddyl::ActionDataNumDiffTpl
Definition:
fwd.hpp:179
crocoddyl::ActivationModelNumDiffTpl
Definition:
fwd.hpp:187
crocoddyl::ActionModelNumDiffTpl
This class computes the numerical differentiation of an ActionModel.
Definition:
fwd.hpp:177
crocoddyl::ActionDataUnicycleTpl
Definition:
unicycle.hpp:65
crocoddyl::CostDataAbstractTpl
Definition:
cost-base.hpp:242
crocoddyl::StateNumDiffTpl
Definition:
fwd.hpp:197
crocoddyl::ActionModelCodeGenTpl
Definition:
action-base.hpp:24
crocoddyl::CostDataResidualTpl
Definition:
residual.hpp:114
crocoddyl::ActivationModelSmooth1NormTpl
Smooth-abs activation.
Definition:
smooth-1norm.hpp:34
crocoddyl::ActivationDataNumDiffTpl
Definition:
fwd.hpp:189
crocoddyl::ActionDataLQRTpl
Definition:
lqr.hpp:84
crocoddyl::ActuationDataAbstractTpl
Definition:
actuation-base.hpp:61
crocoddyl::ActivationDataSmooth1NormTpl
Definition:
smooth-1norm.hpp:125
crocoddyl::ActivationModel2NormBarrierTpl
Definition:
fwd.hpp:101
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:112
crocoddyl::ActivationDataQuadraticBarrierTpl
Definition:
quadratic-barrier.hpp:156
crocoddyl::DifferentialActionDataNumDiffTpl
Definition:
fwd.hpp:184
crocoddyl::ActivationModelAbstractTpl
Definition:
activation-base.hpp:24
crocoddyl::IntegratedActionModelRK4Tpl
Definition:
fwd.hpp:51
crocoddyl::ActuationSquashingDataTpl
Definition:
actuation-squashing.hpp:70
crocoddyl::ResidualModelAbstractTpl
Abstract class for residual models.
Definition:
fwd.hpp:57
crocoddyl::ActivationDataAbstractTpl
Definition:
activation-base.hpp:66
crocoddyl::SquashingDataAbstractTpl
Definition:
squashing-base.hpp:62
crocoddyl::ActuationModelNumDiffTpl
Definition:
fwd.hpp:200
include
crocoddyl
core
fwd.hpp
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