context.hpp

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#pragma once
#include "aligator/compat/crocoddyl/fwd.hpp"
#include "aligator/context.hpp"
 
namespace aligator {
namespace compat {
namespace croc {
 
namespace context {
 
using Scalar = ::aligator::context::Scalar;
 
using StateWrapper = StateWrapperTpl<Scalar>;
using CostModelWrapper = CrocCostModelWrapperTpl<Scalar>;
using CostDataWrapper = CrocCostDataWrapperTpl<Scalar>;
using DynamicsDataWrapper = DynamicsDataWrapperTpl<Scalar>;
using ActionModelWrapper = ActionModelWrapperTpl<Scalar>;
using ActionDataWrapper = ActionDataWrapperTpl<Scalar>;
 
using CrocCostModel = crocoddyl::CostModelAbstractTpl<Scalar>;
using CrocCostData = crocoddyl::CostDataAbstractTpl<Scalar>;
using CrocActionModel = crocoddyl::ActionModelAbstractTpl<Scalar>;
using CrocActionData = crocoddyl::ActionDataAbstractTpl<Scalar>;
using CrocShootingProblem = crocoddyl::ShootingProblemTpl<Scalar>;
 
} // namespace context
} // namespace croc
 
} // namespace compat
 
} // namespace aligator