ddp-deprecated.hpp

// BSD 3-Clause License
//
// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh,
// University of Oxford, Heriot-Watt University
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.

#ifndef CROCODDYL_CORE_SOLVERS_DDP_DEPRECATED_HPP_
#define CROCODDYL_CORE_SOLVERS_DDP_DEPRECATED_HPP_

#include "crocoddyl/core/solvers/fddp.hpp"

namespace crocoddyl {

class SolverDDP : public SolverFDDPTpl<double> {
 public:
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW

 DEPRECATED(
 "Do not use SolverDDP. Instead, you should use SolverFDDP(problem, "
 "DynamicsSolverType::SingleShoot)",
 explicit SolverDDP(std::shared_ptr<ShootingProblemTpl<double>>
 problem) : SolverFDDPTpl<double>(problem){};)
 virtual ~SolverDDP() = default;

 virtual void calcDiff() { return SolverFDDPTpl<double>::calcDir(); }
};

} // namespace crocoddyl

#endif // CROCODDYL_CORE_SOLVERS_DDP_DEPRECATED_HPP_