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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, |
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// Heriot-Watt University |
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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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#ifndef CROCODDYL_CORE_FWD_HPP_ |
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#define CROCODDYL_CORE_FWD_HPP_ |
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#include "crocoddyl/core/pch.hpp" |
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namespace crocoddyl { |
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✗ |
inline bool& enableMultithreading() { |
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static bool enable = true; |
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✗ |
return enable; |
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} |
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enum AssignmentOp { setto, addto, rmfrom }; |
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inline bool is_a_AssignmentOp(AssignmentOp op) { |
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return (op == setto || op == addto || op == rmfrom); |
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} |
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// action |
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template <typename Scalar> |
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class ActionModelAbstractTpl; |
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template <typename Scalar> |
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struct ActionDataAbstractTpl; |
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template <typename Scalar> |
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class ActionModelUnicycleTpl; |
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template <typename Scalar> |
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struct ActionDataUnicycleTpl; |
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template <typename Scalar> |
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class ActionModelLQRTpl; |
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template <typename Scalar> |
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struct ActionDataLQRTpl; |
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// differential action |
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template <typename Scalar> |
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class DifferentialActionModelAbstractTpl; |
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template <typename Scalar> |
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struct DifferentialActionDataAbstractTpl; |
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template <typename Scalar> |
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class DifferentialActionModelLQRTpl; |
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template <typename Scalar> |
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struct DifferentialActionDataLQRTpl; |
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// integrated action |
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template <typename Scalar> |
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class IntegratedActionModelAbstractTpl; |
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template <typename Scalar> |
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struct IntegratedActionDataAbstractTpl; |
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template <typename Scalar> |
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class IntegratedActionModelEulerTpl; |
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template <typename Scalar> |
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struct IntegratedActionDataEulerTpl; |
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template <typename Scalar> |
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class IntegratedActionModelRKTpl; |
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template <typename Scalar> |
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struct IntegratedActionDataRKTpl; |
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// residual |
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template <typename Scalar> |
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class ResidualModelAbstractTpl; |
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template <typename Scalar> |
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struct ResidualDataAbstractTpl; |
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// activation |
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template <typename Scalar> |
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struct ActivationBoundsTpl; |
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template <typename Scalar> |
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class ActivationModelQuadraticBarrierTpl; |
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template <typename Scalar> |
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struct ActivationDataQuadraticBarrierTpl; |
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template <typename Scalar> |
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class ActivationModelWeightedQuadraticBarrierTpl; |
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template <typename Scalar> |
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class ActivationModelQuadTpl; |
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template <typename Scalar> |
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class ActivationModelQuadFlatExpTpl; |
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template <typename Scalar> |
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struct ActivationDataQuadFlatExpTpl; |
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template <typename Scalar> |
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class ActivationModelQuadFlatLogTpl; |
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template <typename Scalar> |
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struct ActivationDataQuadFlatLogTpl; |
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template <typename Scalar> |
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class ActivationModelWeightedQuadTpl; |
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template <typename Scalar> |
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struct ActivationDataWeightedQuadTpl; |
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template <typename Scalar> |
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class ActivationModelSmooth1NormTpl; |
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template <typename Scalar> |
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struct ActivationDataSmooth1NormTpl; |
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template <typename Scalar> |
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class ActivationModelSmooth2NormTpl; |
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template <typename Scalar> |
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struct ActivationDataSmooth2NormTpl; |
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template <typename Scalar> |
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class ActivationModel2NormBarrierTpl; |
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template <typename Scalar> |
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struct ActivationData2NormBarrierTpl; |
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template <typename Scalar> |
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class ActivationModelAbstractTpl; |
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template <typename Scalar> |
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struct ActivationDataAbstractTpl; |
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// state |
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template <typename Scalar> |
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class StateAbstractTpl; |
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template <typename Scalar> |
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class StateVectorTpl; |
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// control |
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template <typename Scalar> |
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class ControlParametrizationModelAbstractTpl; |
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template <typename Scalar> |
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struct ControlParametrizationDataAbstractTpl; |
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template <typename Scalar> |
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class ControlParametrizationModelPolyZeroTpl; |
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template <typename Scalar> |
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class ControlParametrizationModelPolyOneTpl; |
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template <typename Scalar> |
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struct ControlParametrizationDataPolyOneTpl; |
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template <typename Scalar> |
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class ControlParametrizationModelPolyTwoRKTpl; |
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template <typename Scalar> |
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struct ControlParametrizationDataPolyTwoRKTpl; |
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// actuation |
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template <typename Scalar> |
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class ActuationModelAbstractTpl; |
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template <typename Scalar> |
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struct ActuationDataAbstractTpl; |
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template <typename Scalar> |
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class ActuationSquashingModelTpl; |
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template <typename Scalar> |
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struct ActuationSquashingDataTpl; |
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// squashing |
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template <typename Scalar> |
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class SquashingModelAbstractTpl; |
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template <typename Scalar> |
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struct SquashingDataAbstractTpl; |
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template <typename Scalar> |
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class SquashingModelSmoothSatTpl; |
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// joint |
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template <typename Scalar> |
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struct JointDataAbstractTpl; |
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// data collector |
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template <typename Scalar> |
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struct DataCollectorAbstractTpl; |
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template <typename Scalar> |
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struct DataCollectorActuationTpl; |
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template <typename Scalar> |
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struct DataCollectorJointTpl; |
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template <typename Scalar> |
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struct DataCollectorJointActuationTpl; |
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// residual |
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template <typename Scalar> |
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class ResidualModelControlTpl; |
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template <typename Scalar> |
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struct ResidualDataControlTpl; |
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template <typename Scalar> |
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class ResidualModelJointEffortTpl; |
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template <typename Scalar> |
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struct ResidualDataJointEffortTpl; |
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template <typename Scalar> |
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class ResidualModelJointAccelerationTpl; |
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template <typename Scalar> |
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struct ResidualDataJointAccelerationTpl; |
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// cost |
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template <typename Scalar> |
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class CostModelAbstractTpl; |
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template <typename Scalar> |
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struct CostDataAbstractTpl; |
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template <typename Scalar> |
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struct CostItemTpl; |
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template <typename Scalar> |
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class CostModelSumTpl; |
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template <typename Scalar> |
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struct CostDataSumTpl; |
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template <typename Scalar> |
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class CostModelResidualTpl; |
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template <typename Scalar> |
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struct CostDataResidualTpl; |
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// constraint |
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template <typename Scalar> |
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class ConstraintModelAbstractTpl; |
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template <typename Scalar> |
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struct ConstraintDataAbstractTpl; |
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template <typename Scalar> |
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struct ConstraintItemTpl; |
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template <typename Scalar> |
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class ConstraintModelManagerTpl; |
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template <typename Scalar> |
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struct ConstraintDataManagerTpl; |
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template <typename Scalar> |
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class ConstraintModelResidualTpl; |
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template <typename Scalar> |
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struct ConstraintDataResidualTpl; |
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// shooting |
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template <typename Scalar> |
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class ShootingProblemTpl; |
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// Numdiff |
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template <typename Scalar> |
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class ActionModelNumDiffTpl; |
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template <typename Scalar> |
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struct ActionDataNumDiffTpl; |
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template <typename Scalar> |
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class DifferentialActionModelNumDiffTpl; |
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template <typename Scalar> |
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struct DifferentialActionDataNumDiffTpl; |
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template <typename Scalar> |
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class ActuationModelNumDiffTpl; |
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template <typename Scalar> |
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struct ActuationDataNumDiffTpl; |
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template <typename Scalar> |
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class ActivationModelNumDiffTpl; |
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template <typename Scalar> |
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struct ActivationDataNumDiffTpl; |
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template <typename Scalar> |
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class ResidualModelNumDiffTpl; |
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template <typename Scalar> |
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struct ResidualDataNumDiffTpl; |
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template <typename Scalar> |
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class ConstraintModelNumDiffTpl; |
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template <typename Scalar> |
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struct ConstraintDataNumDiffTpl; |
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template <typename Scalar> |
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class StateNumDiffTpl; |
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template <typename Scalar> |
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class ControlParametrizationModelNumDiffTpl; |
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template <typename Scalar> |
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struct ControlParametrizationDataNumDiffTpl; |
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template <typename Scalar> |
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class ActuationModelNumDiffTpl; |
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template <typename Scalar> |
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struct ActuationDataNumDiffTpl; |
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template <typename Scalar> |
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class ActionModelCodeGenTpl; |
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template <typename Scalar> |
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struct ActionDataCodeGenTpl; |
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/********************Template Instantiation*************/ |
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typedef ActionModelAbstractTpl<double> ActionModelAbstract; |
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typedef ActionDataAbstractTpl<double> ActionDataAbstract; |
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typedef ActionModelUnicycleTpl<double> ActionModelUnicycle; |
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typedef ActionDataUnicycleTpl<double> ActionDataUnicycle; |
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typedef ActionModelLQRTpl<double> ActionModelLQR; |
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typedef ActionDataLQRTpl<double> ActionDataLQR; |
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typedef DifferentialActionModelAbstractTpl<double> |
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DifferentialActionModelAbstract; |
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typedef DifferentialActionDataAbstractTpl<double> |
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DifferentialActionDataAbstract; |
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typedef DifferentialActionModelLQRTpl<double> DifferentialActionModelLQR; |
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typedef DifferentialActionDataLQRTpl<double> DifferentialActionDataLQR; |
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typedef IntegratedActionModelAbstractTpl<double> IntegratedActionModelAbstract; |
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typedef IntegratedActionDataAbstractTpl<double> IntegratedActionDataAbstract; |
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typedef IntegratedActionModelEulerTpl<double> IntegratedActionModelEuler; |
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typedef IntegratedActionDataEulerTpl<double> IntegratedActionDataEuler; |
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typedef IntegratedActionModelRKTpl<double> IntegratedActionModelRK; |
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typedef IntegratedActionDataRKTpl<double> IntegratedActionDataRK; |
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typedef ResidualModelAbstractTpl<double> ResidualModelAbstract; |
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typedef ResidualDataAbstractTpl<double> ResidualDataAbstract; |
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typedef ResidualModelControlTpl<double> ResidualModelControl; |
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typedef ResidualDataControlTpl<double> ResidualDataControl; |
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typedef ResidualModelJointEffortTpl<double> ResidualModelJointEffort; |
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typedef ResidualDataJointEffortTpl<double> ResidualDataJointEffort; |
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typedef ResidualModelJointAccelerationTpl<double> |
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ResidualModelJointAcceleration; |
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typedef ResidualDataJointAccelerationTpl<double> ResidualDataJointAcceleration; |
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typedef ActivationDataQuadraticBarrierTpl<double> |
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ActivationDataQuadraticBarrier; |
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typedef ActivationModelQuadraticBarrierTpl<double> |
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ActivationModelQuadraticBarrier; |
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typedef ActivationBoundsTpl<double> ActivationBounds; |
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typedef ActivationModelWeightedQuadraticBarrierTpl<double> |
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ActivationModelWeightedQuadraticBarrier; |
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typedef ActivationModelQuadTpl<double> ActivationModelQuad; |
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typedef ActivationModelQuadFlatExpTpl<double> ActivationModelQuadFlatExp; |
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typedef ActivationDataQuadFlatExpTpl<double> ActivationDataQuadFlatExp; |
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typedef ActivationModelQuadFlatLogTpl<double> ActivationModelQuadFlatLog; |
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typedef ActivationDataQuadFlatLogTpl<double> ActivationDataQuadFlatLog; |
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typedef ActivationModelWeightedQuadTpl<double> ActivationModelWeightedQuad; |
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typedef ActivationDataWeightedQuadTpl<double> ActivationDataWeightedQuad; |
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DEPRECATED( |
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"Use ActivationModelSmooth1Norm", |
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typedef ActivationModelSmooth1NormTpl<double> ActivationModelSmoothAbs;) |
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DEPRECATED( |
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"Use ActivationDataSmooth1Norm", |
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typedef ActivationDataSmooth1NormTpl<double> ActivationDataSmoothAbs;) |
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typedef ActivationModelSmooth1NormTpl<double> ActivationModelSmooth1Norm; |
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typedef ActivationDataSmooth1NormTpl<double> ActivationDataSmooth1Norm; |
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typedef ActivationModelSmooth2NormTpl<double> ActivationModelSmooth2Norm; |
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typedef ActivationDataSmooth2NormTpl<double> ActivationDataSmooth2Norm; |
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typedef ActivationModel2NormBarrierTpl<double> ActivationModel2NormBarrier; |
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typedef ActivationData2NormBarrierTpl<double> ActivationData2NormBarrier; |
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typedef ActivationModelAbstractTpl<double> ActivationModelAbstract; |
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typedef ActivationDataAbstractTpl<double> ActivationDataAbstract; |
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typedef StateAbstractTpl<double> StateAbstract; |
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typedef StateVectorTpl<double> StateVector; |
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typedef ControlParametrizationModelAbstractTpl<double> |
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ControlParametrizationModelAbstract; |
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typedef ControlParametrizationDataAbstractTpl<double> |
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ControlParametrizationDataAbstract; |
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typedef ControlParametrizationModelPolyZeroTpl<double> |
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ControlParametrizationModelPolyZero; |
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typedef ControlParametrizationModelPolyOneTpl<double> |
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ControlParametrizationModelPolyOne; |
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typedef ControlParametrizationDataPolyOneTpl<double> |
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ControlParametrizationDataPolyOne; |
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typedef ControlParametrizationModelPolyTwoRKTpl<double> |
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ControlParametrizationModelPolyTwoRK; |
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typedef ControlParametrizationDataPolyTwoRKTpl<double> |
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ControlParametrizationDataPolyTwoRK; |
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typedef ActuationDataAbstractTpl<double> ActuationDataAbstract; |
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typedef ActuationModelAbstractTpl<double> ActuationModelAbstract; |
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typedef ActuationSquashingDataTpl<double> ActuationSquashingData; |
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typedef ActuationSquashingModelTpl<double> ActuationSquashingModel; |
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typedef SquashingDataAbstractTpl<double> SquashingDataAbstract; |
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typedef SquashingModelAbstractTpl<double> SquashingModelAbstract; |
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typedef SquashingModelSmoothSatTpl<double> SquashingModelSmoothSat; |
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| 384 |
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typedef JointDataAbstractTpl<double> JointDataAbstract; |
| 385 |
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| 386 |
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typedef DataCollectorAbstractTpl<double> DataCollectorAbstract; |
| 387 |
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typedef DataCollectorActuationTpl<double> DataCollectorActuation; |
| 388 |
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typedef DataCollectorJointTpl<double> DataCollectorJoint; |
| 389 |
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typedef DataCollectorJointActuationTpl<double> DataCollectorJointActuation; |
| 390 |
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| 391 |
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typedef CostModelAbstractTpl<double> CostModelAbstract; |
| 392 |
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typedef CostDataAbstractTpl<double> CostDataAbstract; |
| 393 |
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typedef CostItemTpl<double> CostItem; |
| 394 |
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typedef CostModelSumTpl<double> CostModelSum; |
| 395 |
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typedef CostDataSumTpl<double> CostDataSum; |
| 396 |
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typedef CostModelResidualTpl<double> CostModelResidual; |
| 397 |
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typedef CostDataResidualTpl<double> CostDataResidual; |
| 398 |
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| 399 |
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typedef ConstraintModelAbstractTpl<double> ConstraintModelAbstract; |
| 400 |
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typedef ConstraintDataAbstractTpl<double> ConstraintDataAbstract; |
| 401 |
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typedef ConstraintItemTpl<double> ConstraintItem; |
| 402 |
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typedef ConstraintModelManagerTpl<double> ConstraintModelManager; |
| 403 |
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typedef ConstraintDataManagerTpl<double> ConstraintDataManager; |
| 404 |
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typedef ConstraintModelResidualTpl<double> ConstraintModelResidual; |
| 405 |
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typedef ConstraintDataResidualTpl<double> ConstraintDataResidual; |
| 406 |
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| 407 |
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typedef ShootingProblemTpl<double> ShootingProblem; |
| 408 |
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| 409 |
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typedef ActionModelNumDiffTpl<double> ActionModelNumDiff; |
| 410 |
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typedef ActionDataNumDiffTpl<double> ActionDataNumDiff; |
| 411 |
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typedef ControlParametrizationModelNumDiffTpl<double> |
| 412 |
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ControlParametrizationModelNumDiff; |
| 413 |
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typedef ControlParametrizationDataNumDiffTpl<double> |
| 414 |
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ControlParametrizationDataNumDiff; |
| 415 |
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typedef DifferentialActionModelNumDiffTpl<double> |
| 416 |
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DifferentialActionModelNumDiff; |
| 417 |
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typedef ActuationModelNumDiffTpl<double> ActuationModelNumDiff; |
| 418 |
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typedef ActuationDataNumDiffTpl<double> ActuationDataNumDiff; |
| 419 |
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typedef DifferentialActionDataNumDiffTpl<double> DifferentialActionDataNumDiff; |
| 420 |
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typedef ActivationModelNumDiffTpl<double> ActivationModelNumDiff; |
| 421 |
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typedef ActivationDataNumDiffTpl<double> ActivationDataNumDiff; |
| 422 |
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typedef ResidualModelNumDiffTpl<double> ResidualModelNumDiff; |
| 423 |
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typedef ResidualDataNumDiffTpl<double> ResidualDataNumDiff; |
| 424 |
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typedef ConstraintModelNumDiffTpl<double> ConstraintModelNumDiff; |
| 425 |
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typedef ConstraintDataNumDiffTpl<double> ConstraintDataNumDiff; |
| 426 |
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typedef StateNumDiffTpl<double> StateNumDiff; |
| 427 |
|
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typedef ActuationModelNumDiffTpl<double> ActuationModelNumDiff; |
| 428 |
|
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typedef ActuationDataNumDiffTpl<double> ActuationDataNumDiff; |
| 429 |
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| 430 |
|
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typedef ActionModelCodeGenTpl<double> ActionModelCodeGen; |
| 431 |
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typedef ActionDataCodeGenTpl<double> ActionDataCodeGen; |
| 432 |
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| 433 |
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} // namespace crocoddyl |
| 434 |
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| 435 |
|
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#endif // CROCODDYL_CORE_FWD_HPP_ |
| 436 |
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