crocoddyl  1.8.1
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
fwd.hpp
1 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2021, 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 // residual
56 template <typename Scalar>
58 template <typename Scalar>
60 
61 // activation
62 template <typename Scalar>
63 struct ActivationBoundsTpl;
64 template <typename Scalar>
66 template <typename Scalar>
68 
69 template <typename Scalar>
71 
72 template <typename Scalar>
74 
75 template <typename Scalar>
77 template <typename Scalar>
79 
80 template <typename Scalar>
82 template <typename Scalar>
84 
85 template <typename Scalar>
87 template <typename Scalar>
89 
90 template <typename Scalar>
92 template <typename Scalar>
94 
95 template <typename Scalar>
97 template <typename Scalar>
99 
100 template <typename Scalar>
102 template <typename Scalar>
104 
105 template <typename Scalar>
107 template <typename Scalar>
109 
110 // state
111 template <typename Scalar>
113 
114 template <typename Scalar>
116 
117 // actuation
118 template <typename Scalar>
120 template <typename Scalar>
122 
123 template <typename Scalar>
125 template <typename Scalar>
127 
128 // squashing
129 template <typename Scalar>
131 template <typename Scalar>
133 
134 template <typename Scalar>
136 
137 // data collector
138 template <typename Scalar>
140 
141 template <typename Scalar>
143 
144 // residual
145 template <typename Scalar>
147 template <typename Scalar>
149 
150 // cost
151 template <typename Scalar>
153 template <typename Scalar>
154 struct CostDataAbstractTpl;
155 
156 template <typename Scalar>
157 struct CostItemTpl;
158 template <typename Scalar>
159 class CostModelSumTpl;
160 template <typename Scalar>
161 struct CostDataSumTpl;
162 
163 template <typename Scalar>
165 template <typename Scalar>
166 struct CostDataResidualTpl;
167 
168 template <typename Scalar>
169 class CostModelControlTpl;
170 
171 // shooting
172 template <typename Scalar>
174 
175 // Numdiff
176 template <typename Scalar>
178 template <typename Scalar>
180 
181 template <typename Scalar>
183 template <typename Scalar>
185 
186 template <typename Scalar>
188 template <typename Scalar>
190 
191 template <typename Scalar>
193 template <typename Scalar>
195 
196 template <typename Scalar>
198 
199 template <typename Scalar>
201 template <typename Scalar>
203 
204 template <typename Scalar>
206 
207 template <typename Scalar>
208 struct ActionDataCodeGenTpl;
209 
210 /********************Template Instantiation*************/
217 
222 
227 
232 
244 DEPRECATED("Use ActivationModelSmooth1Norm", typedef ActivationModelSmooth1NormTpl<double> ActivationModelSmoothAbs;)
245 DEPRECATED("Use ActivationDataSmooth1Norm", typedef ActivationDataSmooth1NormTpl<double> ActivationDataSmoothAbs;)
254 
257 
262 
266 
269 
277 DEPRECATED("Use ResidualModelControl with CostModelResidual", typedef CostModelControlTpl<double> CostModelControl;)
278 
280 
292 
295 
296 } // namespace crocoddyl
297 
298 #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