aligator
0.6.1
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
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#include "aligator/core/function-abstract.hpp"
#include "aligator/modelling/contact-map.hpp"
#include "aligator/modelling/centroidal/centroidal-acceleration.hxx"
Go to the source code of this file.
Classes | |
struct | aligator::CentroidalAccelerationResidualTpl< _Scalar > |
This residual returns the linear acceleration of a centroidal model with state \(x = (c, h, L) \), computed from the external forces and contact poses. More... | |
struct | aligator::CentroidalAccelerationDataTpl< Scalar > |
Namespaces | |
namespace | aligator |
Main package namespace. | |