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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2023, University of Edinburgh, LAAS-CNRS, |
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// Heriot-Watt University, University of Trento |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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#include "python/crocoddyl/core/core.hpp" |
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namespace crocoddyl { |
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namespace python { |
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void exposeCore() { |
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exposeDataCollector(); |
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exposeStateAbstract(); |
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exposeControlParametrizationAbstract(); |
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exposeActuationAbstract(); |
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exposeActionAbstract(); |
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exposeIntegratedActionAbstract(); |
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exposeDifferentialActionAbstract(); |
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exposeResidualAbstract(); |
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exposeActivationAbstract(); |
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exposeSquashingAbstract(); |
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exposeSquashingSmoothSat(); |
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exposeActuationSquashing(); |
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exposeDataCollectorActuation(); |
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exposeDataCollectorJoint(); |
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exposeIntegratedActionEuler(); |
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exposeIntegratedActionRK(); |
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exposeIntegratedActionRK4(); |
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exposeCostAbstract(); |
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exposeResidualControl(); |
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exposeResidualJointEffort(); |
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exposeResidualJointAcceleration(); |
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exposeCostSum(); |
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exposeCostResidual(); |
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exposeConstraintAbstract(); |
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exposeConstraintManager(); |
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exposeConstraintResidual(); |
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exposeActionNumDiff(); |
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exposeDifferentialActionNumDiff(); |
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exposeActivationNumDiff(); |
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exposeStateNumDiff(); |
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exposeShootingProblem(); |
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exposeSolverAbstract(); |
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exposeStateEuclidean(); |
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exposeControlParametrizationPolyZero(); |
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exposeControlParametrizationPolyOne(); |
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exposeControlParametrizationPolyTwoRK(); |
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exposeActionUnicycle(); |
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exposeActionLQR(); |
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exposeDifferentialActionLQR(); |
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exposeActivationQuad(); |
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exposeActivationQuadFlatExp(); |
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exposeActivationQuadFlatLog(); |
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exposeActivationWeightedQuad(); |
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exposeActivationQuadraticBarrier(); |
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exposeActivationWeightedQuadraticBarrier(); |
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exposeActivationSmooth1Norm(); |
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exposeActivationSmooth2Norm(); |
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exposeActivation2NormBarrier(); |
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exposeSolverKKT(); |
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exposeSolverDDP(); |
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exposeSolverFDDP(); |
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exposeSolverBoxQP(); |
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exposeSolverBoxDDP(); |
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exposeSolverBoxFDDP(); |
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exposeSolverIntro(); |
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#ifdef CROCODDYL_WITH_IPOPT |
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exposeSolverIpopt(); |
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#endif |
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exposeCallbacks(); |
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exposeException(); |
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exposeStopWatch(); |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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