aligator  0.16.0
A versatile and efficient C++ library for real-time constrained trajectory optimization.
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fwd.hpp
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1
2#pragma once
3
4#include "aligator/deprecated.hpp"
5
6namespace aligator {
7
9namespace dynamics {
10
11// fwd ContinuousDynamicsAbstractTpl
12template <typename Scalar> struct ContinuousDynamicsAbstractTpl;
13
14// fwd ContinuousDynamicsDataTpl
15template <typename Scalar> struct ContinuousDynamicsDataTpl;
16
17// fwd ODEAbstractTpl
18template <typename Scalar> struct ODEAbstractTpl;
19
20// fwd CentroidalFwdDynamicsTpl
21template <typename Scalar> struct CentroidalFwdDynamicsTpl;
22
23template <typename Scalar> struct CentroidalFwdDataTpl;
24
25// fwd ContinuousCentroidalFwdDynamicsTpl
26template <typename Scalar> struct ContinuousCentroidalFwdDynamicsTpl;
27
28template <typename Scalar> struct ContinuousCentroidalFwdDataTpl;
29
31
32// fwd IntegratorAbstractTpl;
33template <typename Scalar> struct IntegratorAbstractTpl;
34
35// fwd IntegratorDataTpl;
36template <typename Scalar> struct IntegratorDataTpl;
37
38// fwd ExplicitIntegratorAbstractTpl;
39template <typename Scalar> struct ExplicitIntegratorAbstractTpl;
40
41// fwd ExplicitIntegratorDataTpl;
42template <typename Scalar> struct ExplicitIntegratorDataTpl;
43
44// fwd IntegratorEulerTpl;
45template <typename Scalar> struct IntegratorEulerTpl;
46
47// fwd IntegratorSemiImplEulerTpl;
48template <typename Scalar> struct IntegratorSemiImplEulerTpl;
49
50// fwd IntegratorSemiImplDataTpl;
51template <typename Scalar> struct IntegratorSemiImplDataTpl;
52
53// fwd IntegratorRK2Tpl;
54template <typename Scalar> struct IntegratorRK2Tpl;
55
56} // namespace dynamics
57
58} // namespace aligator
Namespace for modelling system dynamics.
Main package namespace.
Nonlinear centroidal forward dynamics.
Nonlinear centroidal forward dynamics with smooth control.
Continuous dynamics described by differential-algebraic equations (DAEs) .
Data struct for ContinuousDynamicsAbstractTpl.
Base class for (implicit) numerical integrators.
Data class for numerical integrators (IntegratorAbstractTpl).
Second-order Runge-Kutta integrator.
Base class for ODE dynamics .