aligator  0.12.0
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
 
All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Modules Pages
Loading...
Searching...
No Matches
dynamics-wrap.hpp
Go to the documentation of this file.
1
3#pragma once
4
7#include <crocoddyl/core/action-base.hpp>
8
9namespace aligator {
10namespace compat {
11namespace croc {
12
13template <typename Scalar>
16 using CrocActionModel = crocoddyl::ActionModelAbstractTpl<Scalar>;
17 explicit DynamicsDataWrapperTpl(const CrocActionModel &action_model)
18 : Base((int)action_model.get_state()->get_ndx(),
19 (int)action_model.get_nu(),
20 (int)action_model.get_state()->get_nx(),
21 (int)action_model.get_state()->get_ndx()) {}
22};
23
24} // namespace croc
25} // namespace compat
26} // namespace aligator
Headers for the Crocoddyl compatibility module.
Headers for compatibility modules.
Main package namespace.
ExplicitDynamicsDataTpl(const int ndx1, const int nu, const int nx2, const int ndx2)
DynamicsDataWrapperTpl(const CrocActionModel &action_model)
crocoddyl::ActionModelAbstractTpl< Scalar > CrocActionModel
ExplicitDynamicsDataTpl< Scalar > Base