context.hpp

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#pragma once
 
#include "aligator/fwd.hpp"
 
namespace aligator {
namespace context {
 
using Scalar = double;
static constexpr int Options = 0;
 
ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);
 
using Manifold = ManifoldAbstractTpl<Scalar>;
using VectorSpace = VectorSpaceTpl<Scalar, Eigen::Dynamic>;
 
using StageFunction = StageFunctionTpl<Scalar>;
using UnaryFunction = UnaryFunctionTpl<Scalar>;
using StageFunctionData = StageFunctionDataTpl<Scalar>;
 
using ConstraintSet = ConstraintSetTpl<Scalar>;
 
using CostBase ALIGATOR_DEPRECATED_MESSAGE(
    "Use the CostAbstract typedef instead.") = CostAbstractTpl<Scalar>;
using CostAbstract = CostAbstractTpl<Scalar>;
using CostData = CostDataAbstractTpl<Scalar>;
using DynamicsModel = DynamicsModelTpl<Scalar>;
using DynamicsData = DynamicsDataTpl<Scalar>;
using StageModel = StageModelTpl<Scalar>;
using StageData = StageDataTpl<Scalar>;
 
using CallbackBase = CallbackBaseTpl<Scalar>;
 
using TrajOptProblem = TrajOptProblemTpl<Scalar>;
using TrajOptData = TrajOptDataTpl<Scalar>;
using ConstraintStack = ConstraintStackTpl<Scalar>;
 
using ExplicitDynamics = ExplicitDynamicsModelTpl<Scalar>;
using ExplicitDynamicsData = ExplicitDynamicsDataTpl<Scalar>;
 
using SolverProxDDP = SolverProxDDPTpl<Scalar>;
using SolverFDDP = SolverFDDPTpl<Scalar>;
 
using Workspace = WorkspaceTpl<Scalar>;
using Results = ResultsTpl<Scalar>;
using Filter = FilterTpl<Scalar>;
 
} // namespace context
} // namespace aligator