aligator  0.9.0
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
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problem-wrap.hpp
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1
3#pragma once
4
5#include "context.hpp"
6#include <crocoddyl/core/optctrl/shooting.hpp>
7
8namespace aligator::compat::croc {
9
13template <typename Scalar>
14TrajOptProblemTpl<Scalar> convertCrocoddylProblem(
15 const boost::shared_ptr<crocoddyl::ShootingProblemTpl<Scalar>>
16 &croc_problem);
17
18#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
19extern template ::aligator::context::TrajOptProblem
20convertCrocoddylProblem<context::Scalar>(
21 const boost::shared_ptr<context::CrocShootingProblem> &);
22#endif
23
24} // namespace aligator::compat::croc
context.hpp
Defines the context for instantiating the templates.
aligator::compat::croc
Headers for the Crocoddyl compatibility module.
Definition action-model-wrap.hpp:16
aligator::compat::croc::convertCrocoddylProblem
TrajOptProblemTpl< Scalar > convertCrocoddylProblem(const boost::shared_ptr< crocoddyl::ShootingProblemTpl< Scalar > > &croc_problem)
This function converts a crocoddyl::ShootingProblemTpl to an aligator::TrajOptProblemTpl.
aligator::TrajOptProblemTpl
Trajectory optimization problem.
Definition fwd.hpp:107