9 #ifndef CROCODDYL_CORE_SOLVERS_BOX_FDDP_HPP_
10 #define CROCODDYL_CORE_SOLVERS_BOX_FDDP_HPP_
12 #include <Eigen/Cholesky>
15 #include "crocoddyl/core/solvers/fddp.hpp"
16 #include "crocoddyl/core/solvers/box-qp.hpp"
22 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
24 explicit SolverBoxFDDP(boost::shared_ptr<ShootingProblem> problem);
31 const std::vector<Eigen::MatrixXd>& get_Quu_inv()
const;
35 std::vector<Eigen::MatrixXd> Quu_inv_;
36 Eigen::VectorXd du_lb_;
37 Eigen::VectorXd du_ub_;
42 #endif // CROCODDYL_CORE_SOLVERS_BOX_FDDP_HPP_