aligator  0.16.0
A versatile and efficient C++ library for real-time constrained trajectory optimization.
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fwd.hpp File Reference
#include "aligator/context.hpp"
#include <pinocchio/algorithm/frames.hpp>
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Classes

struct  aligator::frame_api
 

Namespaces

namespace  aligator
 Main package namespace.
 
namespace  aligator::context
 

Typedefs

using aligator::context::PinModel = pinocchio::ModelTpl<Scalar, Options>
 
using aligator::context::PinData = pinocchio::DataTpl<Scalar, Options>
 
using aligator::context::RCM = pinocchio::RigidConstraintModelTpl<Scalar, Options>
 
using aligator::context::RCD = pinocchio::RigidConstraintDataTpl<Scalar, Options>
 
using aligator::context::MultibodyConfiguration = MultibodyConfiguration<Scalar>
 
using aligator::context::MultibodyPhaseSpace = MultibodyPhaseSpace<Scalar>