| Directory: | ./ |
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| File: | include/crocoddyl/core/fwd.hpp |
| Date: | 2025-03-26 19:23:43 |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, | ||
| 5 | // Heriot-Watt University | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | #ifndef CROCODDYL_CORE_FWD_HPP_ | ||
| 11 | #define CROCODDYL_CORE_FWD_HPP_ | ||
| 12 | |||
| 13 | #include "crocoddyl/config.hpp" | ||
| 14 | #include "crocoddyl/core/macros.hpp" | ||
| 15 | #include "crocoddyl/core/utils/conversions.hpp" | ||
| 16 | #include "crocoddyl/core/utils/deprecate.hpp" | ||
| 17 | #include "crocoddyl/core/utils/exception.hpp" | ||
| 18 | #include "crocoddyl/core/utils/math.hpp" | ||
| 19 | #include "crocoddyl/core/utils/scalar.hpp" | ||
| 20 | |||
| 21 | namespace crocoddyl { | ||
| 22 | |||
| 23 | 361 | inline bool& enableMultithreading() { | |
| 24 | static bool enable = true; | ||
| 25 | 361 | return enable; | |
| 26 | } | ||
| 27 | |||
| 28 | enum AssignmentOp { setto, addto, rmfrom }; | ||
| 29 | |||
| 30 | 112999 | inline bool is_a_AssignmentOp(AssignmentOp op) { | |
| 31 |
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112999 | return (op == setto || op == addto || op == rmfrom); |
| 32 | } | ||
| 33 | |||
| 34 | // action | ||
| 35 | template <typename Scalar> | ||
| 36 | class ActionModelAbstractTpl; | ||
| 37 | |||
| 38 | template <typename Scalar> | ||
| 39 | struct ActionDataAbstractTpl; | ||
| 40 | |||
| 41 | template <typename Scalar> | ||
| 42 | class ActionModelUnicycleTpl; | ||
| 43 | template <typename Scalar> | ||
| 44 | struct ActionDataUnicycleTpl; | ||
| 45 | |||
| 46 | template <typename Scalar> | ||
| 47 | class ActionModelLQRTpl; | ||
| 48 | template <typename Scalar> | ||
| 49 | struct ActionDataLQRTpl; | ||
| 50 | |||
| 51 | // differential action | ||
| 52 | template <typename Scalar> | ||
| 53 | class DifferentialActionModelAbstractTpl; | ||
| 54 | template <typename Scalar> | ||
| 55 | struct DifferentialActionDataAbstractTpl; | ||
| 56 | |||
| 57 | template <typename Scalar> | ||
| 58 | class DifferentialActionModelLQRTpl; | ||
| 59 | template <typename Scalar> | ||
| 60 | struct DifferentialActionDataLQRTpl; | ||
| 61 | |||
| 62 | // integrated action | ||
| 63 | template <typename Scalar> | ||
| 64 | class IntegratedActionModelAbstractTpl; | ||
| 65 | template <typename Scalar> | ||
| 66 | struct IntegratedActionDataAbstractTpl; | ||
| 67 | |||
| 68 | template <typename Scalar> | ||
| 69 | class IntegratedActionModelEulerTpl; | ||
| 70 | template <typename Scalar> | ||
| 71 | struct IntegratedActionDataEulerTpl; | ||
| 72 | |||
| 73 | template <typename Scalar> | ||
| 74 | class IntegratedActionModelRKTpl; | ||
| 75 | template <typename Scalar> | ||
| 76 | struct IntegratedActionDataRKTpl; | ||
| 77 | |||
| 78 | // residual | ||
| 79 | template <typename Scalar> | ||
| 80 | class ResidualModelAbstractTpl; | ||
| 81 | template <typename Scalar> | ||
| 82 | struct ResidualDataAbstractTpl; | ||
| 83 | |||
| 84 | // activation | ||
| 85 | template <typename Scalar> | ||
| 86 | struct ActivationBoundsTpl; | ||
| 87 | template <typename Scalar> | ||
| 88 | class ActivationModelQuadraticBarrierTpl; | ||
| 89 | template <typename Scalar> | ||
| 90 | struct ActivationDataQuadraticBarrierTpl; | ||
| 91 | |||
| 92 | template <typename Scalar> | ||
| 93 | class ActivationModelWeightedQuadraticBarrierTpl; | ||
| 94 | |||
| 95 | template <typename Scalar> | ||
| 96 | class ActivationModelQuadTpl; | ||
| 97 | |||
| 98 | template <typename Scalar> | ||
| 99 | class ActivationModelQuadFlatExpTpl; | ||
| 100 | template <typename Scalar> | ||
| 101 | struct ActivationDataQuadFlatExpTpl; | ||
| 102 | |||
| 103 | template <typename Scalar> | ||
| 104 | class ActivationModelQuadFlatLogTpl; | ||
| 105 | template <typename Scalar> | ||
| 106 | struct ActivationDataQuadFlatLogTpl; | ||
| 107 | |||
| 108 | template <typename Scalar> | ||
| 109 | class ActivationModelWeightedQuadTpl; | ||
| 110 | template <typename Scalar> | ||
| 111 | struct ActivationDataWeightedQuadTpl; | ||
| 112 | |||
| 113 | template <typename Scalar> | ||
| 114 | class ActivationModelSmooth1NormTpl; | ||
| 115 | template <typename Scalar> | ||
| 116 | struct ActivationDataSmooth1NormTpl; | ||
| 117 | |||
| 118 | template <typename Scalar> | ||
| 119 | class ActivationModelSmooth2NormTpl; | ||
| 120 | template <typename Scalar> | ||
| 121 | struct ActivationDataSmooth2NormTpl; | ||
| 122 | |||
| 123 | template <typename Scalar> | ||
| 124 | class ActivationModel2NormBarrierTpl; | ||
| 125 | template <typename Scalar> | ||
| 126 | struct ActivationData2NormBarrierTpl; | ||
| 127 | |||
| 128 | template <typename Scalar> | ||
| 129 | class ActivationModelAbstractTpl; | ||
| 130 | template <typename Scalar> | ||
| 131 | struct ActivationDataAbstractTpl; | ||
| 132 | |||
| 133 | // state | ||
| 134 | template <typename Scalar> | ||
| 135 | class StateAbstractTpl; | ||
| 136 | |||
| 137 | template <typename Scalar> | ||
| 138 | class StateVectorTpl; | ||
| 139 | |||
| 140 | // control | ||
| 141 | template <typename Scalar> | ||
| 142 | class ControlParametrizationModelAbstractTpl; | ||
| 143 | template <typename Scalar> | ||
| 144 | struct ControlParametrizationDataAbstractTpl; | ||
| 145 | |||
| 146 | template <typename Scalar> | ||
| 147 | class ControlParametrizationModelPolyZeroTpl; | ||
| 148 | |||
| 149 | template <typename Scalar> | ||
| 150 | class ControlParametrizationModelPolyOneTpl; | ||
| 151 | template <typename Scalar> | ||
| 152 | struct ControlParametrizationDataPolyOneTpl; | ||
| 153 | |||
| 154 | template <typename Scalar> | ||
| 155 | class ControlParametrizationModelPolyTwoRKTpl; | ||
| 156 | template <typename Scalar> | ||
| 157 | struct ControlParametrizationDataPolyTwoRKTpl; | ||
| 158 | |||
| 159 | // actuation | ||
| 160 | template <typename Scalar> | ||
| 161 | class ActuationModelAbstractTpl; | ||
| 162 | template <typename Scalar> | ||
| 163 | struct ActuationDataAbstractTpl; | ||
| 164 | |||
| 165 | template <typename Scalar> | ||
| 166 | class ActuationSquashingModelTpl; | ||
| 167 | template <typename Scalar> | ||
| 168 | struct ActuationSquashingDataTpl; | ||
| 169 | |||
| 170 | // squashing | ||
| 171 | template <typename Scalar> | ||
| 172 | class SquashingModelAbstractTpl; | ||
| 173 | template <typename Scalar> | ||
| 174 | struct SquashingDataAbstractTpl; | ||
| 175 | |||
| 176 | template <typename Scalar> | ||
| 177 | class SquashingModelSmoothSatTpl; | ||
| 178 | |||
| 179 | // joint | ||
| 180 | template <typename Scalar> | ||
| 181 | struct JointDataAbstractTpl; | ||
| 182 | |||
| 183 | // data collector | ||
| 184 | template <typename Scalar> | ||
| 185 | struct DataCollectorAbstractTpl; | ||
| 186 | |||
| 187 | template <typename Scalar> | ||
| 188 | struct DataCollectorActuationTpl; | ||
| 189 | |||
| 190 | template <typename Scalar> | ||
| 191 | struct DataCollectorJointTpl; | ||
| 192 | |||
| 193 | template <typename Scalar> | ||
| 194 | struct DataCollectorJointActuationTpl; | ||
| 195 | |||
| 196 | // residual | ||
| 197 | template <typename Scalar> | ||
| 198 | class ResidualModelControlTpl; | ||
| 199 | template <typename Scalar> | ||
| 200 | struct ResidualDataControlTpl; | ||
| 201 | |||
| 202 | template <typename Scalar> | ||
| 203 | class ResidualModelJointEffortTpl; | ||
| 204 | template <typename Scalar> | ||
| 205 | struct ResidualDataJointEffortTpl; | ||
| 206 | |||
| 207 | template <typename Scalar> | ||
| 208 | class ResidualModelJointAccelerationTpl; | ||
| 209 | template <typename Scalar> | ||
| 210 | struct ResidualDataJointAccelerationTpl; | ||
| 211 | |||
| 212 | // cost | ||
| 213 | template <typename Scalar> | ||
| 214 | class CostModelAbstractTpl; | ||
| 215 | template <typename Scalar> | ||
| 216 | struct CostDataAbstractTpl; | ||
| 217 | |||
| 218 | template <typename Scalar> | ||
| 219 | struct CostItemTpl; | ||
| 220 | template <typename Scalar> | ||
| 221 | class CostModelSumTpl; | ||
| 222 | template <typename Scalar> | ||
| 223 | struct CostDataSumTpl; | ||
| 224 | |||
| 225 | template <typename Scalar> | ||
| 226 | class CostModelResidualTpl; | ||
| 227 | template <typename Scalar> | ||
| 228 | struct CostDataResidualTpl; | ||
| 229 | |||
| 230 | // constraint | ||
| 231 | template <typename Scalar> | ||
| 232 | class ConstraintModelAbstractTpl; | ||
| 233 | template <typename Scalar> | ||
| 234 | struct ConstraintDataAbstractTpl; | ||
| 235 | |||
| 236 | template <typename Scalar> | ||
| 237 | struct ConstraintItemTpl; | ||
| 238 | template <typename Scalar> | ||
| 239 | class ConstraintModelManagerTpl; | ||
| 240 | template <typename Scalar> | ||
| 241 | struct ConstraintDataManagerTpl; | ||
| 242 | |||
| 243 | template <typename Scalar> | ||
| 244 | class ConstraintModelResidualTpl; | ||
| 245 | template <typename Scalar> | ||
| 246 | struct ConstraintDataResidualTpl; | ||
| 247 | |||
| 248 | // shooting | ||
| 249 | template <typename Scalar> | ||
| 250 | class ShootingProblemTpl; | ||
| 251 | |||
| 252 | // Numdiff | ||
| 253 | template <typename Scalar> | ||
| 254 | class ActionModelNumDiffTpl; | ||
| 255 | template <typename Scalar> | ||
| 256 | struct ActionDataNumDiffTpl; | ||
| 257 | |||
| 258 | template <typename Scalar> | ||
| 259 | class DifferentialActionModelNumDiffTpl; | ||
| 260 | template <typename Scalar> | ||
| 261 | struct DifferentialActionDataNumDiffTpl; | ||
| 262 | |||
| 263 | template <typename Scalar> | ||
| 264 | class ActuationModelNumDiffTpl; | ||
| 265 | template <typename Scalar> | ||
| 266 | struct ActuationDataNumDiffTpl; | ||
| 267 | |||
| 268 | template <typename Scalar> | ||
| 269 | class ActivationModelNumDiffTpl; | ||
| 270 | template <typename Scalar> | ||
| 271 | struct ActivationDataNumDiffTpl; | ||
| 272 | |||
| 273 | template <typename Scalar> | ||
| 274 | class ResidualModelNumDiffTpl; | ||
| 275 | template <typename Scalar> | ||
| 276 | struct ResidualDataNumDiffTpl; | ||
| 277 | |||
| 278 | template <typename Scalar> | ||
| 279 | class ConstraintModelNumDiffTpl; | ||
| 280 | template <typename Scalar> | ||
| 281 | struct ConstraintDataNumDiffTpl; | ||
| 282 | |||
| 283 | template <typename Scalar> | ||
| 284 | class StateNumDiffTpl; | ||
| 285 | |||
| 286 | template <typename Scalar> | ||
| 287 | class ControlParametrizationModelNumDiffTpl; | ||
| 288 | template <typename Scalar> | ||
| 289 | struct ControlParametrizationDataNumDiffTpl; | ||
| 290 | |||
| 291 | template <typename Scalar> | ||
| 292 | class ActuationModelNumDiffTpl; | ||
| 293 | template <typename Scalar> | ||
| 294 | struct ActuationDataNumDiffTpl; | ||
| 295 | |||
| 296 | template <typename Scalar> | ||
| 297 | class ActionModelCodeGenTpl; | ||
| 298 | |||
| 299 | template <typename Scalar> | ||
| 300 | struct ActionDataCodeGenTpl; | ||
| 301 | |||
| 302 | /********************Template Instantiation*************/ | ||
| 303 | typedef ActionModelAbstractTpl<double> ActionModelAbstract; | ||
| 304 | typedef ActionDataAbstractTpl<double> ActionDataAbstract; | ||
| 305 | typedef ActionModelUnicycleTpl<double> ActionModelUnicycle; | ||
| 306 | typedef ActionDataUnicycleTpl<double> ActionDataUnicycle; | ||
| 307 | typedef ActionModelLQRTpl<double> ActionModelLQR; | ||
| 308 | typedef ActionDataLQRTpl<double> ActionDataLQR; | ||
| 309 | |||
| 310 | typedef DifferentialActionModelAbstractTpl<double> | ||
| 311 | DifferentialActionModelAbstract; | ||
| 312 | typedef DifferentialActionDataAbstractTpl<double> | ||
| 313 | DifferentialActionDataAbstract; | ||
| 314 | typedef DifferentialActionModelLQRTpl<double> DifferentialActionModelLQR; | ||
| 315 | typedef DifferentialActionDataLQRTpl<double> DifferentialActionDataLQR; | ||
| 316 | |||
| 317 | typedef IntegratedActionModelAbstractTpl<double> IntegratedActionModelAbstract; | ||
| 318 | typedef IntegratedActionDataAbstractTpl<double> IntegratedActionDataAbstract; | ||
| 319 | typedef IntegratedActionModelEulerTpl<double> IntegratedActionModelEuler; | ||
| 320 | typedef IntegratedActionDataEulerTpl<double> IntegratedActionDataEuler; | ||
| 321 | typedef IntegratedActionModelRKTpl<double> IntegratedActionModelRK; | ||
| 322 | typedef IntegratedActionDataRKTpl<double> IntegratedActionDataRK; | ||
| 323 | |||
| 324 | typedef ResidualModelAbstractTpl<double> ResidualModelAbstract; | ||
| 325 | typedef ResidualDataAbstractTpl<double> ResidualDataAbstract; | ||
| 326 | typedef ResidualModelControlTpl<double> ResidualModelControl; | ||
| 327 | typedef ResidualDataControlTpl<double> ResidualDataControl; | ||
| 328 | typedef ResidualModelJointEffortTpl<double> ResidualModelJointEffort; | ||
| 329 | typedef ResidualDataJointEffortTpl<double> ResidualDataJointEffort; | ||
| 330 | typedef ResidualModelJointAccelerationTpl<double> | ||
| 331 | ResidualModelJointAcceleration; | ||
| 332 | typedef ResidualDataJointAccelerationTpl<double> ResidualDataJointAcceleration; | ||
| 333 | |||
| 334 | typedef ActivationDataQuadraticBarrierTpl<double> | ||
| 335 | ActivationDataQuadraticBarrier; | ||
| 336 | typedef ActivationModelQuadraticBarrierTpl<double> | ||
| 337 | ActivationModelQuadraticBarrier; | ||
| 338 | typedef ActivationBoundsTpl<double> ActivationBounds; | ||
| 339 | typedef ActivationModelWeightedQuadraticBarrierTpl<double> | ||
| 340 | ActivationModelWeightedQuadraticBarrier; | ||
| 341 | typedef ActivationModelQuadTpl<double> ActivationModelQuad; | ||
| 342 | typedef ActivationModelQuadFlatExpTpl<double> ActivationModelQuadFlatExp; | ||
| 343 | typedef ActivationDataQuadFlatExpTpl<double> ActivationDataQuadFlatExp; | ||
| 344 | typedef ActivationModelQuadFlatLogTpl<double> ActivationModelQuadFlatLog; | ||
| 345 | typedef ActivationDataQuadFlatLogTpl<double> ActivationDataQuadFlatLog; | ||
| 346 | typedef ActivationModelWeightedQuadTpl<double> ActivationModelWeightedQuad; | ||
| 347 | typedef ActivationDataWeightedQuadTpl<double> ActivationDataWeightedQuad; | ||
| 348 | DEPRECATED( | ||
| 349 | "Use ActivationModelSmooth1Norm", | ||
| 350 | typedef ActivationModelSmooth1NormTpl<double> ActivationModelSmoothAbs;) | ||
| 351 | DEPRECATED( | ||
| 352 | "Use ActivationDataSmooth1Norm", | ||
| 353 | typedef ActivationDataSmooth1NormTpl<double> ActivationDataSmoothAbs;) | ||
| 354 | typedef ActivationModelSmooth1NormTpl<double> ActivationModelSmooth1Norm; | ||
| 355 | typedef ActivationDataSmooth1NormTpl<double> ActivationDataSmooth1Norm; | ||
| 356 | typedef ActivationModelSmooth2NormTpl<double> ActivationModelSmooth2Norm; | ||
| 357 | typedef ActivationDataSmooth2NormTpl<double> ActivationDataSmooth2Norm; | ||
| 358 | typedef ActivationModel2NormBarrierTpl<double> ActivationModel2NormBarrier; | ||
| 359 | typedef ActivationData2NormBarrierTpl<double> ActivationData2NormBarrier; | ||
| 360 | typedef ActivationModelAbstractTpl<double> ActivationModelAbstract; | ||
| 361 | typedef ActivationDataAbstractTpl<double> ActivationDataAbstract; | ||
| 362 | |||
| 363 | typedef StateAbstractTpl<double> StateAbstract; | ||
| 364 | typedef StateVectorTpl<double> StateVector; | ||
| 365 | |||
| 366 | typedef ControlParametrizationModelAbstractTpl<double> | ||
| 367 | ControlParametrizationModelAbstract; | ||
| 368 | typedef ControlParametrizationDataAbstractTpl<double> | ||
| 369 | ControlParametrizationDataAbstract; | ||
| 370 | typedef ControlParametrizationModelPolyZeroTpl<double> | ||
| 371 | ControlParametrizationModelPolyZero; | ||
| 372 | typedef ControlParametrizationModelPolyOneTpl<double> | ||
| 373 | ControlParametrizationModelPolyOne; | ||
| 374 | typedef ControlParametrizationDataPolyOneTpl<double> | ||
| 375 | ControlParametrizationDataPolyOne; | ||
| 376 | typedef ControlParametrizationModelPolyTwoRKTpl<double> | ||
| 377 | ControlParametrizationModelPolyTwoRK; | ||
| 378 | typedef ControlParametrizationDataPolyTwoRKTpl<double> | ||
| 379 | ControlParametrizationDataPolyTwoRK; | ||
| 380 | |||
| 381 | typedef ActuationDataAbstractTpl<double> ActuationDataAbstract; | ||
| 382 | typedef ActuationModelAbstractTpl<double> ActuationModelAbstract; | ||
| 383 | typedef ActuationSquashingDataTpl<double> ActuationSquashingData; | ||
| 384 | typedef ActuationSquashingModelTpl<double> ActuationSquashingModel; | ||
| 385 | |||
| 386 | typedef SquashingDataAbstractTpl<double> SquashingDataAbstract; | ||
| 387 | typedef SquashingModelAbstractTpl<double> SquashingModelAbstract; | ||
| 388 | typedef SquashingModelSmoothSatTpl<double> SquashingModelSmoothSat; | ||
| 389 | |||
| 390 | typedef JointDataAbstractTpl<double> JointDataAbstract; | ||
| 391 | |||
| 392 | typedef DataCollectorAbstractTpl<double> DataCollectorAbstract; | ||
| 393 | typedef DataCollectorActuationTpl<double> DataCollectorActuation; | ||
| 394 | typedef DataCollectorJointTpl<double> DataCollectorJoint; | ||
| 395 | typedef DataCollectorJointActuationTpl<double> DataCollectorJointActuation; | ||
| 396 | |||
| 397 | typedef CostModelAbstractTpl<double> CostModelAbstract; | ||
| 398 | typedef CostDataAbstractTpl<double> CostDataAbstract; | ||
| 399 | typedef CostItemTpl<double> CostItem; | ||
| 400 | typedef CostModelSumTpl<double> CostModelSum; | ||
| 401 | typedef CostDataSumTpl<double> CostDataSum; | ||
| 402 | typedef CostModelResidualTpl<double> CostModelResidual; | ||
| 403 | typedef CostDataResidualTpl<double> CostDataResidual; | ||
| 404 | |||
| 405 | typedef ConstraintModelAbstractTpl<double> ConstraintModelAbstract; | ||
| 406 | typedef ConstraintDataAbstractTpl<double> ConstraintDataAbstract; | ||
| 407 | typedef ConstraintItemTpl<double> ConstraintItem; | ||
| 408 | typedef ConstraintModelManagerTpl<double> ConstraintModelManager; | ||
| 409 | typedef ConstraintDataManagerTpl<double> ConstraintDataManager; | ||
| 410 | typedef ConstraintModelResidualTpl<double> ConstraintModelResidual; | ||
| 411 | typedef ConstraintDataResidualTpl<double> ConstraintDataResidual; | ||
| 412 | |||
| 413 | typedef ShootingProblemTpl<double> ShootingProblem; | ||
| 414 | |||
| 415 | typedef ActionModelNumDiffTpl<double> ActionModelNumDiff; | ||
| 416 | typedef ActionDataNumDiffTpl<double> ActionDataNumDiff; | ||
| 417 | typedef ControlParametrizationModelNumDiffTpl<double> | ||
| 418 | ControlParametrizationModelNumDiff; | ||
| 419 | typedef ControlParametrizationDataNumDiffTpl<double> | ||
| 420 | ControlParametrizationDataNumDiff; | ||
| 421 | typedef DifferentialActionModelNumDiffTpl<double> | ||
| 422 | DifferentialActionModelNumDiff; | ||
| 423 | typedef ActuationModelNumDiffTpl<double> ActuationModelNumDiff; | ||
| 424 | typedef ActuationDataNumDiffTpl<double> ActuationDataNumDiff; | ||
| 425 | typedef DifferentialActionDataNumDiffTpl<double> DifferentialActionDataNumDiff; | ||
| 426 | typedef ActivationModelNumDiffTpl<double> ActivationModelNumDiff; | ||
| 427 | typedef ActivationDataNumDiffTpl<double> ActivationDataNumDiff; | ||
| 428 | typedef ResidualModelNumDiffTpl<double> ResidualModelNumDiff; | ||
| 429 | typedef ResidualDataNumDiffTpl<double> ResidualDataNumDiff; | ||
| 430 | typedef ConstraintModelNumDiffTpl<double> ConstraintModelNumDiff; | ||
| 431 | typedef ConstraintDataNumDiffTpl<double> ConstraintDataNumDiff; | ||
| 432 | typedef StateNumDiffTpl<double> StateNumDiff; | ||
| 433 | typedef ActuationModelNumDiffTpl<double> ActuationModelNumDiff; | ||
| 434 | typedef ActuationDataNumDiffTpl<double> ActuationDataNumDiff; | ||
| 435 | |||
| 436 | typedef ActionModelCodeGenTpl<double> ActionModelCodeGen; | ||
| 437 | typedef ActionDataCodeGenTpl<double> ActionDataCodeGen; | ||
| 438 | |||
| 439 | } // namespace crocoddyl | ||
| 440 | |||
| 441 | #endif // CROCODDYL_CORE_FWD_HPP_ | ||
| 442 |