File List

Here is a list of all files with brief descriptions:

bindings
python
aligator
utils
__init__.py
plotting.py
__init__.py
include
aligator
python
modelling
continuous.hpp
explicit-dynamics.hpp
multibody-utils.hpp
blk-matrix.hpp
callbacks.hpp
costs.hpp	Define cost functions
dynamics.hpp
eigen-member.hpp
functions.hpp
fwd.hpp
polymorphic.hpp
solvers.hpp
string-view-converter.hpp
utils.hpp
visitors.hpp
src
compat
expose-croco-compat.cpp
gar
expose-dense.cpp
expose-gar.cpp
expose-parallel.cpp
expose-prox-riccati.cpp
expose-utils.cpp
modelling
multibody
expose-center-of-mass.cpp
expose-constrained-fwd.cpp
expose-fly-high.cpp
expose-force-cost.cpp
expose-freefwd.cpp
expose-gravity-compensation.cpp
expose-kinodynamics.cpp
expose-pinocchio-dynamics.cpp
expose-pinocchio-functions.cpp
expose-pinocchio-manifolds.cpp
expose-autodiff.cpp
expose-centroidal.cpp
expose-composite-costs.cpp
expose-continuous-dynamics.cpp
expose-cost-ops.cpp
expose-cost-stack.cpp
expose-direct-sum.cpp
expose-dynamics.cpp
expose-explicit-dynamics.cpp
expose-explicit-integrators.cpp
expose-function-ops.cpp
expose-integrators.cpp
expose-ode.cpp
expose-callbacks.cpp
expose-cartesian-product.cpp
expose-constraint-set.cpp
expose-constraint.cpp
expose-costs.cpp
expose-filter.cpp
expose-functions.cpp
expose-manifold.cpp
expose-problem.cpp
expose-solver-fddp.cpp
expose-solver-prox.cpp
expose-solvers-base.cpp
expose-stage.cpp
expose-unary-functions.cpp
expose-utils.cpp
module.cpp
doc
include
aligator
compat
crocoddyl
action-model-wrap.hpp
context.hpp	Defines the context for instantiating the templates
cost-wrap.hpp
fwd.hpp
problem-wrap.hpp
state-wrap.hpp
core
allocator.hpp
arena-matrix.hpp
blk-matrix.hpp
bunchkaufman.hpp
callback-base.hpp
constraint-set.hpp
constraint.hpp	Defines the constraint object and constraint stack manager for this library
cost-abstract.hpp
dynamics.hpp
enums.hpp
explicit-dynamics.hpp
filter.hpp
function-abstract.hpp	Base definitions for ternary functions
history-callback.hpp
lagrangian.hpp
linesearch-armijo.hpp	Implements a basic Armijo back-tracking strategy
linesearch-base.hpp	Base structs for linesearch algorithms
linesearch-nonmonotone.hpp
manifold-base.hpp
mimalloc-resource.hpp
stage-data.hpp
stage-model.hpp
traj-opt-data.hpp
traj-opt-problem.hpp
unary-function.hpp
vector-space.hpp
gar
block-tridiagonal.hpp
dense-kernel.hpp
dense-riccati.hpp
fwd.hpp
lqr-problem.hpp
parallel-solver.hpp
proximal-riccati.hpp
riccati-base.hpp
riccati-kernel.hpp
utils.hpp
modelling
autodiff
cost-finite-difference.hpp
finite-difference.hpp
centroidal
angular-acceleration.hpp
angular-momentum.hpp
centroidal-acceleration.hpp
centroidal-friction-cone.hpp
centroidal-translation.hpp
centroidal-wrapper.hpp
centroidal-wrench-cone.hpp
linear-momentum.hpp
constraints
box-constraint.hpp
constraint-set-product.hpp
equality-constraint.hpp
l1-penalty.hpp
negative-orthant.hpp
costs
composite-costs.hpp
constant-cost.hpp
cost-direct-sum.hpp
log-residual-cost.hpp
quad-costs.hpp
quad-residual-cost.hpp
quad-state-cost.hpp
relaxed-log-barrier.hpp
sum-of-costs.hpp
dynamics
centroidal-fwd.hpp
context.hpp
continuous-centroidal-fwd.hpp
continuous-dynamics-abstract.hpp	Base definitions for continuous dynamics
fwd.hpp
integrator-abstract.hpp	Base definitions for numerical integrators
integrator-euler.hpp	Define the explicit Euler integrator
integrator-explicit.hpp	Base definitions for explicit integrators
integrator-midpoint.hpp
integrator-rk2.hpp
integrator-semi-euler.hpp
kinodynamics-fwd.hpp
linear-ode.hpp
multibody-constraint-fwd.hpp
multibody-free-fwd.hpp
ode-abstract.hpp	Defines a class representing ODEs
wheeled-inverted-pendulum.hpp
multibody
center-of-mass-translation.hpp
center-of-mass-velocity.hpp
centroidal-momentum-derivative.hpp
centroidal-momentum.hpp
constrained-rnea.hpp
contact-force.hpp
dcm-position.hpp
fly-high.hpp
frame-collision.hpp
frame-equality.hpp
frame-placement.hpp
frame-translation.hpp
frame-velocity.hpp
fwd.hpp
gravity-compensation-residual.hpp
multibody-friction-cone.hpp
multibody-wrench-cone.hpp
spaces
cartesian-product.hpp
multibody.hpp
pinocchio-groups.hpp
tangent-bundle.hpp
constraints.hpp	Omnibus header which includes all supported constraint sets
contact-map.hpp
control-box-function.hpp
explicit-dynamics-direct-sum.hpp
function-xpr-slice.hpp
linear-discrete-dynamics.hpp
linear-function-composition.hpp
linear-function.hpp
state-error.hpp
solvers
fddp
linesearch.hpp
results.hpp
solver-fddp.hpp
workspace.hpp
proxddp
merit-function.hpp
results.hpp
solver-proxddp.hpp	Definitions for the proximal trajectory optimization algorithm
workspace.hpp	Define workspace for the ProxDDP solver
results-base.hpp
value-function.hpp	Define storage for Q-function and value-function parameters
workspace-base.hpp
third-party
boost
core
detail
assert.hpp
data.hpp
make_span.hpp
span.hpp
polymorphic_cxx14.h
utils
exceptions.hpp
forward-dyn.hpp
logger.hpp
make_span.hpp
mpc-util.hpp	Utils for model-predictive control
newton-raphson.hpp
rollout.hpp
span.hpp
string-hash.hpp
context.hpp
fmt-eigen.hpp
fmt.hpp
fwd.hpp	Forward declarations
math.hpp	Math utilities
overloads.hpp
threads.hpp