Crocoddyl
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fwd.hpp
1
2// BSD 3-Clause License
3//
4// Copyright (C) 2019-2026, LAAS-CNRS, University of Edinburgh,
5// Heriot-Watt University
6// Copyright note valid unless otherwise stated in individual files.
7// All rights reserved.
9
10#ifndef CROCODDYL_CORE_FWD_HPP_
11#define CROCODDYL_CORE_FWD_HPP_
12
13#include "crocoddyl/core/pch.hpp"
14
15namespace crocoddyl {
16
17inline bool& enableMultithreading() {
18 static bool enable = true;
19 return enable;
20}
21
22enum AssignmentOp { setto, addto, rmfrom };
23
24inline bool is_a_AssignmentOp(AssignmentOp op) {
25 return (op == setto || op == addto || op == rmfrom);
26}
27
28// solver and problem
29template <typename Scalar>
30class ShootingProblemTpl;
31
32template <typename Scalar>
33class SolverAbstractTpl;
34
35template <typename Scalar>
36class SolverFDDPTpl;
37
38template <typename Scalar>
39class SolverIntroTpl;
40
41#ifdef CROCODDYL_WITH_ODYN
42template <typename Scalar>
43class SolverOdynSQPTpl;
44#endif
45
46template <typename Scalar>
47class SolverBoxFDDPTpl;
48
49template <typename Scalar>
50class SolverKKTTpl;
51
52template <typename Scalar>
53class BoxQPTpl;
54
55template <typename Scalar>
56struct BoxQPSolutionTpl;
57
58#ifdef CROCODDYL_WITH_IPOPT
59class SolverIpopt;
60
61template <typename Scalar>
62class IpoptInterfaceTpl;
63
64template <typename Scalar>
65struct IpoptInterfaceDataTpl;
66#endif
67
68template <typename Scalar>
69class CallbackAbstractTpl;
70
71template <typename Scalar>
72class CallbackVerboseTpl;
73
74// action
75template <typename Scalar>
76class ActionModelAbstractTpl;
77
78template <typename Scalar>
79struct ActionDataAbstractTpl;
80
81template <typename Scalar>
82class ActionModelUnicycleTpl;
83template <typename Scalar>
84struct ActionDataUnicycleTpl;
85
86template <typename Scalar>
87class ActionModelLQRTpl;
88template <typename Scalar>
89struct ActionDataLQRTpl;
90
91// differential action
92template <typename Scalar>
93class DifferentialActionModelAbstractTpl;
94template <typename Scalar>
95struct DifferentialActionDataAbstractTpl;
96
97template <typename Scalar>
98class DifferentialActionModelLQRTpl;
99template <typename Scalar>
100struct DifferentialActionDataLQRTpl;
101
102// integrated action
103template <typename Scalar>
104class IntegratedActionModelAbstractTpl;
105template <typename Scalar>
106struct IntegratedActionDataAbstractTpl;
107
108template <typename Scalar>
109class IntegratedActionModelEulerTpl;
110template <typename Scalar>
111struct IntegratedActionDataEulerTpl;
112
113template <typename Scalar>
114class IntegratedActionModelRKTpl;
115template <typename Scalar>
116struct IntegratedActionDataRKTpl;
117
118// residual
119template <typename Scalar>
120class ResidualModelAbstractTpl;
121template <typename Scalar>
122struct ResidualDataAbstractTpl;
123
124// task
125template <typename Scalar>
126class TaskModelAbstractTpl;
127template <typename Scalar>
128struct TaskDataAbstractTpl;
129
130template <typename Scalar>
131class GuidanceModelAbstractTpl;
132template <typename Scalar>
133struct GuidanceDataAbstractTpl;
134template <typename Scalar>
135class GuidanceModelLinearTpl;
136template <typename Scalar>
137class GuidanceModelSmoothSaturationTpl;
138template <typename Scalar>
139struct GuidanceDataSmoothSaturationTpl;
140template <typename Scalar>
141class GuidanceModelComponentwiseSaturationTpl;
142template <typename Scalar>
143struct GuidanceDataComponentwiseSaturationTpl;
144
145// activation
146template <typename Scalar>
147struct ActivationBoundsTpl;
148template <typename Scalar>
149class ActivationModelQuadraticBarrierTpl;
150template <typename Scalar>
151struct ActivationDataQuadraticBarrierTpl;
152
153template <typename Scalar>
154class ActivationModelWeightedQuadraticBarrierTpl;
155
156template <typename Scalar>
157class ActivationModelQuadTpl;
158
159template <typename Scalar>
160class ActivationModelQuadFlatExpTpl;
161template <typename Scalar>
162struct ActivationDataQuadFlatExpTpl;
163
164template <typename Scalar>
165class ActivationModelQuadFlatLogTpl;
166template <typename Scalar>
167struct ActivationDataQuadFlatLogTpl;
168
169template <typename Scalar>
170class ActivationModelWeightedQuadTpl;
171template <typename Scalar>
172struct ActivationDataWeightedQuadTpl;
173
174template <typename Scalar>
175class ActivationModelSmooth1NormTpl;
176template <typename Scalar>
177struct ActivationDataSmooth1NormTpl;
178
179template <typename Scalar>
180class ActivationModelWeightedSmooth1NormTpl;
181template <typename Scalar>
182struct ActivationDataWeightedSmooth1NormTpl;
183
184template <typename Scalar>
185class ActivationModelSmooth2NormTpl;
186template <typename Scalar>
187struct ActivationDataSmooth2NormTpl;
188
189template <typename Scalar>
190class ActivationModel2NormBarrierTpl;
191template <typename Scalar>
192struct ActivationData2NormBarrierTpl;
193
194template <typename Scalar>
195class ActivationModelAbstractTpl;
196template <typename Scalar>
197struct ActivationDataAbstractTpl;
198
199// state
200template <typename Scalar>
201class StateAbstractTpl;
202
203template <typename Scalar>
204class StateVectorTpl;
205
206// control
207template <typename Scalar>
208class ControlParametrizationModelAbstractTpl;
209template <typename Scalar>
210struct ControlParametrizationDataAbstractTpl;
211
212template <typename Scalar>
213class ControlParametrizationModelPolyZeroTpl;
214
215template <typename Scalar>
216class ControlParametrizationModelPolyOneTpl;
217template <typename Scalar>
218struct ControlParametrizationDataPolyOneTpl;
219
220template <typename Scalar>
221class ControlParametrizationModelPolyTwoRKTpl;
222template <typename Scalar>
223struct ControlParametrizationDataPolyTwoRKTpl;
224
225// actuation
226template <typename Scalar>
227class ActuationModelAbstractTpl;
228template <typename Scalar>
229struct ActuationDataAbstractTpl;
230
231template <typename Scalar>
232class ActuationSquashingModelTpl;
233template <typename Scalar>
234struct ActuationSquashingDataTpl;
235
236// squashing
237template <typename Scalar>
238class SquashingModelAbstractTpl;
239template <typename Scalar>
240struct SquashingDataAbstractTpl;
241
242template <typename Scalar>
243class SquashingModelSmoothSatTpl;
244
245// joint
246template <typename Scalar>
247struct JointDataAbstractTpl;
248
249// data collector
250template <typename Scalar>
251struct DataCollectorAbstractTpl;
252
253template <typename Scalar>
254struct DataCollectorActuationTpl;
255
256template <typename Scalar>
257struct DataCollectorJointTpl;
258
259template <typename Scalar>
260struct DataCollectorJointActuationTpl;
261
262// residual
263template <typename Scalar>
264class ResidualModelControlTpl;
265template <typename Scalar>
266struct ResidualDataControlTpl;
267
268template <typename Scalar>
269class ResidualModelJointEffortTpl;
270template <typename Scalar>
271struct ResidualDataJointEffortTpl;
272
273template <typename Scalar>
274class ResidualModelJointAccelerationTpl;
275template <typename Scalar>
276struct ResidualDataJointAccelerationTpl;
277
278template <typename Scalar>
279class ResidualModelTaskFirstOrderTpl;
280template <typename Scalar>
281struct ResidualDataTaskFirstOrderTpl;
282
283template <typename Scalar>
284class ResidualModelTaskSecondOrderTpl;
285template <typename Scalar>
286struct ResidualDataTaskSecondOrderTpl;
287
288// cost
289template <typename Scalar>
290class CostModelAbstractTpl;
291template <typename Scalar>
292struct CostDataAbstractTpl;
293
294template <typename Scalar>
295struct CostItemTpl;
296template <typename Scalar>
297class CostModelSumTpl;
298template <typename Scalar>
299struct CostDataSumTpl;
300
301template <typename Scalar>
302class CostModelResidualTpl;
303template <typename Scalar>
304struct CostDataResidualTpl;
305
306// constraint
307template <typename Scalar>
308class ConstraintModelAbstractTpl;
309template <typename Scalar>
310struct ConstraintDataAbstractTpl;
311
312template <typename Scalar>
313struct ConstraintItemTpl;
314template <typename Scalar>
315class ConstraintModelManagerTpl;
316template <typename Scalar>
317struct ConstraintDataManagerTpl;
318
319template <typename Scalar>
320class ConstraintModelResidualTpl;
321template <typename Scalar>
322struct ConstraintDataResidualTpl;
323
324// Numdiff
325template <typename Scalar>
326class ActionModelNumDiffTpl;
327template <typename Scalar>
328struct ActionDataNumDiffTpl;
329
330template <typename Scalar>
331class DifferentialActionModelNumDiffTpl;
332template <typename Scalar>
333struct DifferentialActionDataNumDiffTpl;
334
335template <typename Scalar>
336class ActuationModelNumDiffTpl;
337template <typename Scalar>
338struct ActuationDataNumDiffTpl;
339
340template <typename Scalar>
341class ActivationModelNumDiffTpl;
342template <typename Scalar>
343struct ActivationDataNumDiffTpl;
344
345template <typename Scalar>
346class ResidualModelNumDiffTpl;
347template <typename Scalar>
348struct ResidualDataNumDiffTpl;
349
350template <typename Scalar>
351class ConstraintModelNumDiffTpl;
352template <typename Scalar>
353struct ConstraintDataNumDiffTpl;
354
355template <typename Scalar>
356class StateNumDiffTpl;
357
358template <typename Scalar>
359class ControlParametrizationModelNumDiffTpl;
360template <typename Scalar>
361struct ControlParametrizationDataNumDiffTpl;
362
363template <typename Scalar>
364class ActuationModelNumDiffTpl;
365template <typename Scalar>
366struct ActuationDataNumDiffTpl;
367
368template <typename Scalar>
369class ActionModelCodeGenTpl;
370
371template <typename Scalar>
372struct ActionDataCodeGenTpl;
373
374/********************Template Instantiation*************/
375typedef ShootingProblemTpl<double> ShootingProblem;
376typedef SolverAbstractTpl<double> SolverAbstract;
377typedef SolverFDDPTpl<double> SolverFDDP;
378typedef SolverIntroTpl<double> SolverIntro;
379#ifdef CROCODDYL_WITH_ODYN
380typedef SolverOdynSQPTpl<double> SolverOdynSQP;
381#endif
382typedef SolverBoxFDDPTpl<double> SolverBoxFDDP;
383typedef SolverKKTTpl<double> SolverKKT;
384typedef BoxQPTpl<double> BoxQP;
385typedef BoxQPSolutionTpl<double> BoxQPSolution;
386typedef CallbackAbstractTpl<double> CallbackAbstract;
387typedef CallbackVerboseTpl<double> CallbackVerbose;
388
389#ifdef CROCODDYL_WITH_IPOPT
390typedef IpoptInterfaceTpl<double> IpoptInterface;
391typedef IpoptInterfaceDataTpl<double> IpoptInterfaceData;
392#endif
393
394typedef ActionModelAbstractTpl<double> ActionModelAbstract;
395typedef ActionDataAbstractTpl<double> ActionDataAbstract;
396typedef ActionModelUnicycleTpl<double> ActionModelUnicycle;
397typedef ActionDataUnicycleTpl<double> ActionDataUnicycle;
398typedef ActionModelLQRTpl<double> ActionModelLQR;
399typedef ActionDataLQRTpl<double> ActionDataLQR;
400
401typedef DifferentialActionModelAbstractTpl<double>
402 DifferentialActionModelAbstract;
403typedef DifferentialActionDataAbstractTpl<double>
404 DifferentialActionDataAbstract;
405typedef DifferentialActionModelLQRTpl<double> DifferentialActionModelLQR;
406typedef DifferentialActionDataLQRTpl<double> DifferentialActionDataLQR;
407
408typedef IntegratedActionModelAbstractTpl<double> IntegratedActionModelAbstract;
409typedef IntegratedActionDataAbstractTpl<double> IntegratedActionDataAbstract;
410typedef IntegratedActionModelEulerTpl<double> IntegratedActionModelEuler;
411typedef IntegratedActionDataEulerTpl<double> IntegratedActionDataEuler;
412typedef IntegratedActionModelRKTpl<double> IntegratedActionModelRK;
413typedef IntegratedActionDataRKTpl<double> IntegratedActionDataRK;
414
415typedef ResidualModelAbstractTpl<double> ResidualModelAbstract;
416typedef ResidualDataAbstractTpl<double> ResidualDataAbstract;
417typedef ResidualModelControlTpl<double> ResidualModelControl;
418typedef ResidualDataControlTpl<double> ResidualDataControl;
419typedef ResidualModelJointEffortTpl<double> ResidualModelJointEffort;
420typedef ResidualDataJointEffortTpl<double> ResidualDataJointEffort;
421typedef ResidualModelJointAccelerationTpl<double>
422 ResidualModelJointAcceleration;
423typedef ResidualDataJointAccelerationTpl<double> ResidualDataJointAcceleration;
424typedef ResidualModelTaskFirstOrderTpl<double> ResidualModelTaskFirstOrder;
425typedef ResidualDataTaskFirstOrderTpl<double> ResidualDataTaskFirstOrder;
426typedef ResidualModelTaskSecondOrderTpl<double> ResidualModelTaskSecondOrder;
427typedef ResidualDataTaskSecondOrderTpl<double> ResidualDataTaskSecondOrder;
428
429typedef TaskModelAbstractTpl<double> TaskModelAbstract;
430typedef TaskDataAbstractTpl<double> TaskDataAbstract;
431
432typedef GuidanceModelAbstractTpl<double> GuidanceModelAbstract;
433typedef GuidanceDataAbstractTpl<double> GuidanceDataAbstract;
434typedef GuidanceModelLinearTpl<double> GuidanceModelLinear;
435typedef GuidanceModelSmoothSaturationTpl<double> GuidanceModelSmoothSaturation;
436typedef GuidanceDataSmoothSaturationTpl<double> GuidanceDataSmoothSaturation;
437typedef GuidanceModelComponentwiseSaturationTpl<double>
438 GuidanceModelComponentwiseSaturation;
439typedef GuidanceDataComponentwiseSaturationTpl<double>
440 GuidanceDataComponentwiseSaturation;
441
442typedef ActivationDataQuadraticBarrierTpl<double>
443 ActivationDataQuadraticBarrier;
444typedef ActivationModelQuadraticBarrierTpl<double>
445 ActivationModelQuadraticBarrier;
446typedef ActivationBoundsTpl<double> ActivationBounds;
447typedef ActivationModelWeightedQuadraticBarrierTpl<double>
448 ActivationModelWeightedQuadraticBarrier;
449typedef ActivationModelQuadTpl<double> ActivationModelQuad;
450typedef ActivationModelQuadFlatExpTpl<double> ActivationModelQuadFlatExp;
451typedef ActivationDataQuadFlatExpTpl<double> ActivationDataQuadFlatExp;
452typedef ActivationModelQuadFlatLogTpl<double> ActivationModelQuadFlatLog;
453typedef ActivationDataQuadFlatLogTpl<double> ActivationDataQuadFlatLog;
454typedef ActivationModelWeightedQuadTpl<double> ActivationModelWeightedQuad;
455typedef ActivationDataWeightedQuadTpl<double> ActivationDataWeightedQuad;
456DEPRECATED(
457 "Use ActivationModelSmooth1Norm",
458 typedef ActivationModelSmooth1NormTpl<double> ActivationModelSmoothAbs;)
459DEPRECATED(
460 "Use ActivationDataSmooth1Norm",
461 typedef ActivationDataSmooth1NormTpl<double> ActivationDataSmoothAbs;)
462typedef ActivationModelSmooth1NormTpl<double> ActivationModelSmooth1Norm;
463typedef ActivationDataSmooth1NormTpl<double> ActivationDataSmooth1Norm;
464typedef ActivationModelWeightedSmooth1NormTpl<double>
465 ActivationModelWeightedSmooth1Norm;
466typedef ActivationDataWeightedSmooth1NormTpl<double>
467 ActivationDataWeightedSmooth1Norm;
468typedef ActivationModelSmooth2NormTpl<double> ActivationModelSmooth2Norm;
469typedef ActivationDataSmooth2NormTpl<double> ActivationDataSmooth2Norm;
470typedef ActivationModel2NormBarrierTpl<double> ActivationModel2NormBarrier;
471typedef ActivationData2NormBarrierTpl<double> ActivationData2NormBarrier;
472typedef ActivationModelAbstractTpl<double> ActivationModelAbstract;
473typedef ActivationDataAbstractTpl<double> ActivationDataAbstract;
474
475typedef StateAbstractTpl<double> StateAbstract;
476typedef StateVectorTpl<double> StateVector;
477
478typedef ControlParametrizationModelAbstractTpl<double>
479 ControlParametrizationModelAbstract;
480typedef ControlParametrizationDataAbstractTpl<double>
481 ControlParametrizationDataAbstract;
482typedef ControlParametrizationModelPolyZeroTpl<double>
483 ControlParametrizationModelPolyZero;
484typedef ControlParametrizationModelPolyOneTpl<double>
485 ControlParametrizationModelPolyOne;
486typedef ControlParametrizationDataPolyOneTpl<double>
487 ControlParametrizationDataPolyOne;
488typedef ControlParametrizationModelPolyTwoRKTpl<double>
489 ControlParametrizationModelPolyTwoRK;
490typedef ControlParametrizationDataPolyTwoRKTpl<double>
491 ControlParametrizationDataPolyTwoRK;
492
493typedef ActuationDataAbstractTpl<double> ActuationDataAbstract;
494typedef ActuationModelAbstractTpl<double> ActuationModelAbstract;
495typedef ActuationSquashingDataTpl<double> ActuationSquashingData;
496typedef ActuationSquashingModelTpl<double> ActuationSquashingModel;
497
498typedef SquashingDataAbstractTpl<double> SquashingDataAbstract;
499typedef SquashingModelAbstractTpl<double> SquashingModelAbstract;
500typedef SquashingModelSmoothSatTpl<double> SquashingModelSmoothSat;
501
502typedef JointDataAbstractTpl<double> JointDataAbstract;
503
504typedef DataCollectorAbstractTpl<double> DataCollectorAbstract;
505typedef DataCollectorActuationTpl<double> DataCollectorActuation;
506typedef DataCollectorJointTpl<double> DataCollectorJoint;
507typedef DataCollectorJointActuationTpl<double> DataCollectorJointActuation;
508
509typedef CostModelAbstractTpl<double> CostModelAbstract;
510typedef CostDataAbstractTpl<double> CostDataAbstract;
511typedef CostItemTpl<double> CostItem;
512typedef CostModelSumTpl<double> CostModelSum;
513typedef CostDataSumTpl<double> CostDataSum;
514typedef CostModelResidualTpl<double> CostModelResidual;
515typedef CostDataResidualTpl<double> CostDataResidual;
516
517typedef ConstraintModelAbstractTpl<double> ConstraintModelAbstract;
518typedef ConstraintDataAbstractTpl<double> ConstraintDataAbstract;
519typedef ConstraintItemTpl<double> ConstraintItem;
520typedef ConstraintModelManagerTpl<double> ConstraintModelManager;
521typedef ConstraintDataManagerTpl<double> ConstraintDataManager;
522typedef ConstraintModelResidualTpl<double> ConstraintModelResidual;
523typedef ConstraintDataResidualTpl<double> ConstraintDataResidual;
524
525typedef ActionModelNumDiffTpl<double> ActionModelNumDiff;
526typedef ActionDataNumDiffTpl<double> ActionDataNumDiff;
527typedef ControlParametrizationModelNumDiffTpl<double>
528 ControlParametrizationModelNumDiff;
529typedef ControlParametrizationDataNumDiffTpl<double>
530 ControlParametrizationDataNumDiff;
531typedef DifferentialActionModelNumDiffTpl<double>
532 DifferentialActionModelNumDiff;
533typedef ActuationModelNumDiffTpl<double> ActuationModelNumDiff;
534typedef ActuationDataNumDiffTpl<double> ActuationDataNumDiff;
535typedef DifferentialActionDataNumDiffTpl<double> DifferentialActionDataNumDiff;
536typedef ActivationModelNumDiffTpl<double> ActivationModelNumDiff;
537typedef ActivationDataNumDiffTpl<double> ActivationDataNumDiff;
538typedef ResidualModelNumDiffTpl<double> ResidualModelNumDiff;
539typedef ResidualDataNumDiffTpl<double> ResidualDataNumDiff;
540typedef ConstraintModelNumDiffTpl<double> ConstraintModelNumDiff;
541typedef ConstraintDataNumDiffTpl<double> ConstraintDataNumDiff;
542typedef StateNumDiffTpl<double> StateNumDiff;
543typedef ActuationModelNumDiffTpl<double> ActuationModelNumDiff;
544typedef ActuationDataNumDiffTpl<double> ActuationDataNumDiff;
545
546typedef ActionModelCodeGenTpl<double> ActionModelCodeGen;
547typedef ActionDataCodeGenTpl<double> ActionDataCodeGen;
548
549} // namespace crocoddyl
550
551#endif // CROCODDYL_CORE_FWD_HPP_
crocoddyl::ActionModelAbstractTpl
Abstract class for action model.
Definition action-base.hpp:97
crocoddyl::ActionModelLQRTpl
Linear-quadratic regulator (LQR) action model.
Definition lqr.hpp:45
crocoddyl::ActionModelNumDiffTpl
This class computes the numerical differentiation of an action model.
Definition action.hpp:44
crocoddyl::ActuationModelAbstractTpl
Abstract class for the actuation-mapping model.
Definition actuation-base.hpp:46
crocoddyl::ActuationModelNumDiffTpl
This class computes the numerical differentiation of an actuation model.
Definition actuation.hpp:31
crocoddyl::BoxQPTpl
This class implements a Box QP solver based on a Projected Newton method.
Definition box-qp.hpp:103
crocoddyl::CallbackAbstractTpl
Abstract class for solver callbacks.
Definition solver-base.hpp:793
crocoddyl::ConstraintModelAbstractTpl
Abstract class for constraint models.
Definition constraint-base.hpp:54
crocoddyl::ConstraintModelManagerTpl
Manage the individual constraint models.
Definition constraint-manager.hpp:69
crocoddyl::ConstraintModelNumDiffTpl
This class computes the numerical differentiation of a constraint model.
Definition constraint.hpp:30
crocoddyl::ConstraintModelResidualTpl
Residual-based constraint.
Definition residual.hpp:47
crocoddyl::ControlParametrizationModelAbstractTpl
Abstract class for the control trajectory parametrization.
Definition control-base.hpp:49
crocoddyl::ControlParametrizationModelPolyOneTpl
A polynomial function of time of degree one, that is a linear function.
Definition poly-one.hpp:42
crocoddyl::ControlParametrizationModelPolyTwoRKTpl
A polynomial function of time of degree two, that is a quadratic function.
Definition poly-two-rk.hpp:51
crocoddyl::ControlParametrizationModelPolyZeroTpl
A polynomial function of time of degree zero, that is a constant.
Definition poly-zero.hpp:37
crocoddyl::CostModelAbstractTpl
Abstract class for cost models.
Definition cost-base.hpp:64
crocoddyl::CostModelResidualTpl
Residual-based cost.
Definition residual.hpp:39
crocoddyl::CostModelSumTpl
Summation of individual cost models.
Definition cost-sum.hpp:75
crocoddyl::DifferentialActionModelAbstractTpl
Abstract class for differential action model.
Definition diff-action-base.hpp:122
crocoddyl::DifferentialActionModelLQRTpl
Linear-quadratic regulator (LQR) differential action model.
Definition diff-lqr.hpp:46
crocoddyl::DifferentialActionModelNumDiffTpl
This class computes the numerical differentiation of a differential action model.
Definition diff-action.hpp:45
crocoddyl::GuidanceModelAbstractTpl
Differentiable mapping from a task error to a desired task rate.
Definition guidance-base.hpp:46
crocoddyl::GuidanceModelComponentwiseSaturationTpl
Independently bounded guidance model for heterogeneous task channels.
Definition componentwise-saturation.hpp:36
crocoddyl::GuidanceModelLinearTpl
Linear converging guidance model.
Definition linear.hpp:26
crocoddyl::GuidanceModelSmoothSaturationTpl
Direction-preserving, smoothly bounded guidance model.
Definition smooth-saturation.hpp:35
crocoddyl::IntegratedActionModelAbstractTpl
Abstract class for an integrated action model.
Definition integ-action-base.hpp:42
crocoddyl::IntegratedActionModelEulerTpl
Symplectic Euler integrator.
Definition euler.hpp:38
crocoddyl::IntegratedActionModelRKTpl
Standard RK integrator.
Definition rk.hpp:40
crocoddyl::IpoptInterfaceTpl
Class for interfacing a crocoddyl::ShootingProblem with IPOPT.
Definition ipopt-iface.hpp:60
crocoddyl::ResidualModelAbstractTpl
Abstract class for residual models.
Definition residual-base.hpp:48
crocoddyl::ResidualModelControlTpl
Define a control residual.
Definition control.hpp:35
crocoddyl::ResidualModelJointAccelerationTpl
Define a joint-acceleration residual.
Definition joint-acceleration.hpp:38
crocoddyl::ResidualModelJointEffortTpl
Define a joint-effort residual.
Definition joint-effort.hpp:36
crocoddyl::ResidualModelNumDiffTpl
This class computes the numerical differentiation of a residual model.
Definition residual.hpp:29
crocoddyl::ResidualModelTaskFirstOrderTpl
First-order task residual for a generic task and guidance model.
Definition task-first-order.hpp:41
crocoddyl::ResidualModelTaskSecondOrderTpl
Second-order task residual for a generic task and guidance model.
Definition task-second-order.hpp:41
crocoddyl::ShootingProblemTpl
This class encapsulates a shooting problem.
Definition shooting.hpp:32
crocoddyl::SolverAbstractTpl
Abstract class for optimal control solvers.
Definition solver-base.hpp:76
crocoddyl::SolverFDDPTpl
Feasibility-driven Differential Dynamic Programming (FDDP) solver.
Definition fddp.hpp:70
crocoddyl::SolverIpopt
Ipopt solver.
Definition ipopt.hpp:30
crocoddyl::SolverOdynSQPTpl
Odyn-based Sequential Quadratic Programming (SQP) solver.
Definition odyn-sqp.hpp:38
crocoddyl::StateAbstractTpl
Abstract class for the state representation.
Definition state-base.hpp:48
crocoddyl::TaskModelAbstractTpl
Abstract task model for convergence residuals.
Definition task-base.hpp:47
crocoddyl::BoxQPSolutionTpl
Box QP solution.
Definition box-qp.hpp:27
crocoddyl::GuidanceDataAbstractTpl
Preallocated values and derivatives produced by a guidance model.
Definition guidance-base.hpp:126
crocoddyl::GuidanceDataComponentwiseSaturationTpl
Cached values for the componentwise saturation guidance model.
Definition componentwise-saturation.hpp:147
crocoddyl::GuidanceDataSmoothSaturationTpl
Cached values for the smooth saturation guidance model.
Definition smooth-saturation.hpp:164
crocoddyl::ResidualDataTaskFirstOrderTpl
Data for the first-order task residual.
Definition task-first-order.hpp:144
crocoddyl::ResidualDataTaskSecondOrderTpl
Data for the second-order task residual.
Definition task-second-order.hpp:178
crocoddyl::TaskDataAbstractTpl
Preallocated values and derivatives produced by a task model.
Definition task-base.hpp:126