crocoddyl: Rolling
  • Links
    • Rosindex
    • Website
    • Repository
  • C++ API
    • Full C++ API
      • Namespaces
        • Namespace crocoddyl
        • Namespace Ipopt
        • Namespace pinocchio
        • Namespace std
      • Classes and Structs
        • Template Struct ActionDataAbstractTpl
        • Template Struct ActionDataCodeGenTpl
        • Template Struct ActionDataImpulseFwdDynamicsTpl
        • Template Struct ActionDataLQRTpl
        • Template Struct ActionDataNumDiffTpl
        • Template Struct ActionDataUnicycleTpl
        • Template Struct ActivationBoundsTpl
        • Template Struct ActivationData2NormBarrierTpl
        • Template Struct ActivationDataAbstractTpl
        • Template Struct ActivationDataNumDiffTpl
        • Template Struct ActivationDataQuadFlatExpTpl
        • Template Struct ActivationDataQuadFlatLogTpl
        • Template Struct ActivationDataQuadraticBarrierTpl
        • Template Struct ActivationDataSmooth1NormTpl
        • Template Struct ActivationDataSmooth2NormTpl
        • Template Struct ActivationDataSmoothAbsTpl
        • Template Struct ActivationDataWeightedQuadTpl
        • Template Struct ActuationDataAbstractTpl
        • Template Struct ActuationDataNumDiffTpl
        • Template Struct ActuationSquashingDataTpl
        • Struct BoxQPSolution
        • Template Struct ConstraintDataAbstractTpl
        • Template Struct ConstraintDataManagerTpl
        • Template Struct ConstraintDataNumDiffTpl
        • Template Struct ConstraintDataResidualTpl
        • Template Struct ConstraintItemTpl
        • Template Struct ContactData1DTpl
        • Template Struct ContactData2DTpl
        • Template Struct ContactData3DTpl
        • Template Struct ContactData6DTpl
        • Template Struct ContactDataAbstractTpl
        • Template Struct ContactDataMultipleTpl
        • Template Struct ContactDataNumDiffTpl
        • Template Struct ContactItemTpl
        • Template Struct ControlParametrizationDataAbstractTpl
        • Template Struct ControlParametrizationDataNumDiffTpl
        • Template Struct ControlParametrizationDataPolyOneTpl
        • Template Struct ControlParametrizationDataPolyTwoRKTpl
        • Template Struct CostDataAbstractTpl
        • Template Struct CostDataNumDiffTpl
        • Template Struct CostDataResidualTpl
        • Template Struct CostDataSumTpl
        • Template Struct CostItemTpl
        • Template Struct DataCollectorAbstractTpl
        • Template Struct DataCollectorActMultibodyInContactTpl
        • Template Struct DataCollectorActMultibodyTpl
        • Template Struct DataCollectorActuationTpl
        • Template Struct DataCollectorContactTpl
        • Template Struct DataCollectorImpulseTpl
        • Template Struct DataCollectorJointActMultibodyInContactTpl
        • Template Struct DataCollectorJointActMultibodyTpl
        • Template Struct DataCollectorJointActuationTpl
        • Template Struct DataCollectorJointTpl
        • Template Struct DataCollectorMultibodyInContactTpl
        • Template Struct DataCollectorMultibodyInImpulseTpl
        • Template Struct DataCollectorMultibodyTpl
        • Template Struct DifferentialActionDataAbstractTpl
        • Template Struct DifferentialActionDataContactFwdDynamicsTpl
        • Template Struct DifferentialActionDataContactInvDynamicsTpl
        • Struct DifferentialActionDataContactInvDynamicsTpl::ResidualDataActuation
        • Struct DifferentialActionDataContactInvDynamicsTpl::ResidualDataContact
        • Template Struct DifferentialActionDataFreeFwdDynamicsTpl
        • Template Struct DifferentialActionDataFreeInvDynamicsTpl
        • Struct DifferentialActionDataFreeInvDynamicsTpl::ResidualDataActuation
        • Template Struct DifferentialActionDataLQRTpl
        • Template Struct DifferentialActionDataNumDiffTpl
        • Template Struct ForceDataAbstractTpl
        • Template Struct ImpulseData3DTpl
        • Template Struct ImpulseData6DTpl
        • Template Struct ImpulseDataAbstractTpl
        • Template Struct ImpulseDataMultipleTpl
        • Template Struct ImpulseItemTpl
        • Template Struct IntegratedActionDataAbstractTpl
        • Template Struct IntegratedActionDataEulerTpl
        • Template Struct IntegratedActionDataRKTpl
        • Struct IpoptInterfaceData
        • Template Struct JointDataAbstractTpl
        • Template Struct MathBaseTpl
        • Template Struct pseudoInverseAlgo
        • Template Struct pseudoInverseAlgo< MatrixLike, false >
        • Template Struct ResidualDataAbstractTpl
        • Template Struct ResidualDataCentroidalMomentumTpl
        • Template Struct ResidualDataCoMPositionTpl
        • Template Struct ResidualDataContactControlGravTpl
        • Template Struct ResidualDataContactCoPPositionTpl
        • Template Struct ResidualDataContactForceTpl
        • Template Struct ResidualDataContactFrictionConeTpl
        • Template Struct ResidualDataContactWrenchConeTpl
        • Template Struct ResidualDataControlGravTpl
        • Template Struct ResidualDataControlTpl
        • Template Struct ResidualDataFramePlacementTpl
        • Template Struct ResidualDataFrameRotationTpl
        • Template Struct ResidualDataFrameTranslationTpl
        • Template Struct ResidualDataFrameVelocityTpl
        • Template Struct ResidualDataImpulseCoMTpl
        • Template Struct ResidualDataJointAccelerationTpl
        • Template Struct ResidualDataJointEffortTpl
        • Template Struct ResidualDataNumDiffTpl
        • Template Struct ResidualDataStateTpl
        • Template Struct ScalarBaseType
        • Template Struct ScalarSelector
        • Template Struct SquashingDataAbstractTpl
        • Struct Stopwatch::PerformanceData
        • Struct Stopwatch::Watcher
        • Struct StopwatchException
        • Template Struct ThrusterTpl
        • Template Struct ScalarCast< NewScalar, CppAD::cg::CG< Scalar > >
        • Template Class ActionModelAbstractTpl
        • Class ActionModelBase
        • Template Class ActionModelCodeGenTpl
        • Template Class ActionModelImpulseFwdDynamicsTpl
        • Template Class ActionModelLQRTpl
        • Template Class ActionModelNumDiffTpl
        • Template Class ActionModelUnicycleTpl
        • Template Class ActivationModel2NormBarrierTpl
        • Template Class ActivationModelAbstractTpl
        • Class ActivationModelBase
        • Template Class ActivationModelNumDiffTpl
        • Template Class ActivationModelQuadFlatExpTpl
        • Template Class ActivationModelQuadFlatLogTpl
        • Template Class ActivationModelQuadraticBarrierTpl
        • Template Class ActivationModelQuadTpl
        • Template Class ActivationModelSmooth1NormTpl
        • Template Class ActivationModelSmooth2NormTpl
        • Template Class ActivationModelSmoothAbsTpl
        • Template Class ActivationModelWeightedQuadraticBarrierTpl
        • Template Class ActivationModelWeightedQuadTpl
        • Template Class ActuationModelAbstractTpl
        • Class ActuationModelBase
        • Template Class ActuationModelFloatingBaseThrustersTpl
        • Template Class ActuationModelFloatingBaseTpl
        • Template Class ActuationModelFullTpl
        • Template Class ActuationModelNumDiffTpl
        • Template Class ActuationSquashingModelTpl
        • Class BoxQP
        • Class CallbackAbstract
        • Class CallbackVerbose
        • Template Class ConstraintModelAbstractTpl
        • Class ConstraintModelBase
        • Template Class ConstraintModelManagerTpl
        • Template Class ConstraintModelNumDiffTpl
        • Template Class ConstraintModelResidualTpl
        • Template Class ContactModel1DTpl
        • Template Class ContactModel2DTpl
        • Template Class ContactModel3DTpl
        • Template Class ContactModel6DTpl
        • Template Class ContactModelAbstractTpl
        • Class ContactModelBase
        • Template Class ContactModelMultipleTpl
        • Template Class ContactModelNumDiffTpl
        • Template Class ControlParametrizationModelAbstractTpl
        • Class ControlParametrizationModelBase
        • Template Class ControlParametrizationModelNumDiffTpl
        • Template Class ControlParametrizationModelPolyOneTpl
        • Template Class ControlParametrizationModelPolyTwoRKTpl
        • Template Class ControlParametrizationModelPolyZeroTpl
        • Template Class CoPSupportTpl
        • Template Class CostModelAbstractTpl
        • Class CostModelBase
        • Template Class CostModelNumDiffTpl
        • Template Class CostModelResidualTpl
        • Template Class CostModelSumTpl
        • Template Class DifferentialActionModelAbstractTpl
        • Class DifferentialActionModelBase
        • Template Class DifferentialActionModelContactFwdDynamicsTpl
        • Template Class DifferentialActionModelContactInvDynamicsTpl
        • Class DifferentialActionModelContactInvDynamicsTpl::ResidualModelActuation
        • Class DifferentialActionModelContactInvDynamicsTpl::ResidualModelContact
        • Template Class DifferentialActionModelFreeFwdDynamicsTpl
        • Template Class DifferentialActionModelFreeInvDynamicsTpl
        • Class DifferentialActionModelFreeInvDynamicsTpl::ResidualModelActuation
        • Template Class DifferentialActionModelLQRTpl
        • Template Class DifferentialActionModelNumDiffTpl
        • Class Exception
        • Template Class FrictionConeTpl
        • Template Class ImpulseModel3DTpl
        • Template Class ImpulseModel6DTpl
        • Template Class ImpulseModelAbstractTpl
        • Class ImpulseModelBase
        • Template Class ImpulseModelMultipleTpl
        • Template Class IntegratedActionModelAbstractTpl
        • Template Class IntegratedActionModelEulerTpl
        • Template Class IntegratedActionModelRKTpl
        • Class IpoptInterface
        • Template Class ResidualModelAbstractTpl
        • Class ResidualModelBase
        • Template Class ResidualModelCentroidalMomentumTpl
        • Template Class ResidualModelCoMPositionTpl
        • Template Class ResidualModelContactControlGravTpl
        • Template Class ResidualModelContactCoPPositionTpl
        • Template Class ResidualModelContactForceTpl
        • Template Class ResidualModelContactFrictionConeTpl
        • Template Class ResidualModelContactWrenchConeTpl
        • Template Class ResidualModelControlGravTpl
        • Template Class ResidualModelControlTpl
        • Template Class ResidualModelFramePlacementTpl
        • Template Class ResidualModelFrameRotationTpl
        • Template Class ResidualModelFrameTranslationTpl
        • Template Class ResidualModelFrameVelocityTpl
        • Template Class ResidualModelImpulseCoMTpl
        • Template Class ResidualModelJointAccelerationTpl
        • Template Class ResidualModelJointEffortTpl
        • Template Class ResidualModelNumDiffTpl
        • Template Class ResidualModelStateTpl
        • Template Class ShootingProblemTpl
        • Class SimpleQuadrupedGaitProblem
        • Class SolverAbstract
        • Class SolverBoxDDP
        • Class SolverBoxFDDP
        • Class SolverFDDP
        • Class SolverIntro
        • Class SolverIpopt
        • Class SolverKKT
        • Template Class SquashingModelAbstractTpl
        • Class SquashingModelBase
        • Template Class SquashingModelSmoothSatTpl
        • Template Class StateAbstractTpl
        • Class StateBase
        • Template Class StateMultibodyTpl
        • Template Class StateNumDiffTpl
        • Template Class StateVectorTpl
        • Class Stopwatch
        • Class Timer
        • Template Class WrenchConeTpl
        • Class CsvStream
      • Enums
        • Enum AssignmentOp
        • Enum ConstraintType
        • Enum ContactType
        • Enum EqualitySolverType
        • Enum FeasibilityNorm
        • Enum ImpulseType
        • Enum Jcomponent
        • Enum RKType
        • Enum StopwatchMode
        • Enum ThrusterType
        • Enum VerboseLevel
      • Functions
        • Template Function crocoddyl::checkPSD(const Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>&)
        • Template Function crocoddyl::checkPSD(const Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>&)
        • Function crocoddyl::checkVersionAtLeast
        • Function crocoddyl::DEPRECATED
        • Function crocoddyl::enableMultithreading
        • Function crocoddyl::getProfiler
        • Function crocoddyl::is_a_AssignmentOp
        • Function crocoddyl::is_a_Jcomponent
        • Template Function crocoddyl::isfinite
        • Template Function crocoddyl::operator<<(std::ostream&, const ActionModelAbstractTpl<Scalar>&)
        • Template Function crocoddyl::operator<<(std::ostream&, const ActuationModelAbstractTpl<Scalar>&)
        • Template Function crocoddyl::operator<<(std::ostream&, const SquashingModelAbstractTpl<Scalar>&)
        • Template Function crocoddyl::operator<<(std::ostream&, const ConstraintModelAbstractTpl<Scalar>&)
        • Template Function crocoddyl::operator<<(std::ostream&, const ConstraintModelManagerTpl<Scalar>&)
        • Template Function crocoddyl::operator<<(std::ostream&, const ControlParametrizationModelAbstractTpl<Scalar>&)
        • Template Function crocoddyl::operator<<(std::ostream&, const CostModelAbstractTpl<Scalar>&)
        • Template Function crocoddyl::operator<<(std::ostream&, const CostModelSumTpl<Scalar>&)
        • Template Function crocoddyl::operator<<(std::ostream&, const DifferentialActionModelAbstractTpl<Scalar>&)
        • Template Function crocoddyl::operator<<(std::ostream&, const ShootingProblemTpl<Scalar>&)
        • Template Function crocoddyl::operator<<(std::ostream&, const ResidualModelAbstractTpl<Scalar>&)
        • Template Function crocoddyl::operator<<(std::ostream&, const StateAbstractTpl<Scalar>&)
        • Template Function crocoddyl::operator<<(std::ostream&, const ContactModelAbstractTpl<Scalar>&)
        • Template Function crocoddyl::operator<<(std::ostream&, const ContactModelMultipleTpl<Scalar>&)
        • Template Function crocoddyl::operator<<(std::ostream&, const CoPSupportTpl<Scalar>&)
        • Template Function crocoddyl::operator<<(std::ostream&, const FrictionConeTpl<Scalar>&)
        • Template Function crocoddyl::operator<<(std::ostream&, const ImpulseModelAbstractTpl<Scalar>&)
        • Template Function crocoddyl::operator<<(std::ostream&, const ImpulseModelMultipleTpl<Scalar>&)
        • Template Function crocoddyl::operator<<(std::ostream&, const WrenchConeTpl<Scalar>&)
        • Template Function crocoddyl::pi
        • Function crocoddyl::printVersion
        • Template Function crocoddyl::pseudoInverse
        • Function crocoddyl::raiseIfNaN
        • Template Function crocoddyl::scalar_cast
        • Template Function crocoddyl::ScaleNumerics
        • Template Function crocoddyl::vector_cast(const std::vector<ItemTpl<Scalar>>&)
        • Template Function crocoddyl::vector_cast(const std::vector<std::shared_ptr<ItemTpl<Scalar>>>&)
        • Template Function std::make_unique
      • Variables
        • Variable crocoddyl::DEFAULT_VECTOR
      • Defines
        • Define assert_pretty
        • Define CROCODDYL_BASE_CAST
        • Define CROCODDYL_BASE_DERIVED_CAST
        • Define CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS
        • Define CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT
        • Define CROCODDYL_DECLARE_FLOATINGPOINT_EXTERN_TEMPLATE_CLASS
        • Define CROCODDYL_DECLARE_FLOATINGPOINT_EXTERN_TEMPLATE_STRUCT
        • Define CROCODDYL_DERIVED_CAST
        • Define CROCODDYL_DERIVED_FLOATINGPOINT_CAST
        • Define CROCODDYL_INNER_DERIVED_CAST
        • Define DEFAULT_SCALAR
        • Define HAVE_CSTDDEF
        • Define HAVE_CSTDDEF
        • Define NOEXCEPT
        • Define START_PROFILER
        • Define STOP_PROFILER
        • Define STOP_WATCH_MAX_NAME_LENGTH
        • Define STOP_WATCH_TIME_WIDTH
        • Define throw_pretty
      • Typedefs
        • Typedef crocoddyl::ActionDataAbstract
        • Typedef crocoddyl::ActionDataCodeGen
        • Typedef crocoddyl::ActionDataImpulseFwdDynamics
        • Typedef crocoddyl::ActionDataLQR
        • Typedef crocoddyl::ActionDataNumDiff
        • Typedef crocoddyl::ActionDataUnicycle
        • Typedef crocoddyl::ActionModelAbstract
        • Typedef crocoddyl::ActionModelCodeGen
        • Typedef crocoddyl::ActionModelImpulseFwdDynamics
        • Typedef crocoddyl::ActionModelLQR
        • Typedef crocoddyl::ActionModelNumDiff
        • Typedef crocoddyl::ActionModelUnicycle
        • Typedef crocoddyl::ActivationBounds
        • Typedef crocoddyl::ActivationData2NormBarrier
        • Typedef crocoddyl::ActivationDataAbstract
        • Typedef crocoddyl::ActivationDataNumDiff
        • Typedef crocoddyl::ActivationDataQuadFlatExp
        • Typedef crocoddyl::ActivationDataQuadFlatLog
        • Typedef crocoddyl::ActivationDataQuadraticBarrier
        • Typedef crocoddyl::ActivationDataSmooth1Norm
        • Typedef crocoddyl::ActivationDataSmooth2Norm
        • Typedef crocoddyl::ActivationDataSmoothAbs
        • Typedef crocoddyl::ActivationDataWeightedQuad
        • Typedef crocoddyl::ActivationModel2NormBarrier
        • Typedef crocoddyl::ActivationModelAbstract
        • Typedef crocoddyl::ActivationModelNumDiff
        • Typedef crocoddyl::ActivationModelQuad
        • Typedef crocoddyl::ActivationModelQuadFlatExp
        • Typedef crocoddyl::ActivationModelQuadFlatLog
        • Typedef crocoddyl::ActivationModelQuadraticBarrier
        • Typedef crocoddyl::ActivationModelSmooth1Norm
        • Typedef crocoddyl::ActivationModelSmooth2Norm
        • Typedef crocoddyl::ActivationModelWeightedQuad
        • Typedef crocoddyl::ActivationModelWeightedQuadraticBarrier
        • Typedef crocoddyl::ActuationDataAbstract
        • Typedef crocoddyl::ActuationDataNumDiff
        • Typedef crocoddyl::ActuationModelAbstract
        • Typedef crocoddyl::ActuationModelFloatingBase
        • Typedef crocoddyl::ActuationModelFloatingBaseThrusters
        • Typedef crocoddyl::ActuationModelFull
        • Typedef crocoddyl::ActuationModelNumDiff
        • Typedef crocoddyl::ActuationSquashingData
        • Typedef crocoddyl::ActuationSquashingModel
        • Typedef crocoddyl::ConstraintDataAbstract
        • Typedef crocoddyl::ConstraintDataManager
        • Typedef crocoddyl::ConstraintDataNumDiff
        • Typedef crocoddyl::ConstraintDataResidual
        • Typedef crocoddyl::ConstraintItem
        • Typedef crocoddyl::ConstraintModelAbstract
        • Typedef crocoddyl::ConstraintModelManager
        • Typedef crocoddyl::ConstraintModelNumDiff
        • Typedef crocoddyl::ConstraintModelResidual
        • Typedef crocoddyl::ContactData1D
        • Typedef crocoddyl::ContactData2D
        • Typedef crocoddyl::ContactData3D
        • Typedef crocoddyl::ContactData6D
        • Typedef crocoddyl::ContactDataAbstract
        • Typedef crocoddyl::ContactDataMultiple
        • Typedef crocoddyl::ContactDataNumDiff
        • Typedef crocoddyl::ContactItem
        • Typedef crocoddyl::ContactModel1D
        • Typedef crocoddyl::ContactModel2D
        • Typedef crocoddyl::ContactModel3D
        • Typedef crocoddyl::ContactModel6D
        • Typedef crocoddyl::ContactModelAbstract
        • Typedef crocoddyl::ContactModelMultiple
        • Typedef crocoddyl::ContactModelNumDiff
        • Typedef crocoddyl::ControlParametrizationDataAbstract
        • Typedef crocoddyl::ControlParametrizationDataNumDiff
        • Typedef crocoddyl::ControlParametrizationDataPolyOne
        • Typedef crocoddyl::ControlParametrizationDataPolyTwoRK
        • Typedef crocoddyl::ControlParametrizationModelAbstract
        • Typedef crocoddyl::ControlParametrizationModelNumDiff
        • Typedef crocoddyl::ControlParametrizationModelPolyOne
        • Typedef crocoddyl::ControlParametrizationModelPolyTwoRK
        • Typedef crocoddyl::ControlParametrizationModelPolyZero
        • Typedef crocoddyl::CoPSupport
        • Typedef crocoddyl::CostDataAbstract
        • Typedef crocoddyl::CostDataNumDiff
        • Typedef crocoddyl::CostDataResidual
        • Typedef crocoddyl::CostDataSum
        • Typedef crocoddyl::CostItem
        • Typedef crocoddyl::CostModelAbstract
        • Typedef crocoddyl::CostModelNumDiff
        • Typedef crocoddyl::CostModelResidual
        • Typedef crocoddyl::CostModelSum
        • Typedef crocoddyl::DataCollectorAbstract
        • Typedef crocoddyl::DataCollectorActMultibody
        • Typedef crocoddyl::DataCollectorActMultibodyInContact
        • Typedef crocoddyl::DataCollectorActuation
        • Typedef crocoddyl::DataCollectorContact
        • Typedef crocoddyl::DataCollectorImpulse
        • Typedef crocoddyl::DataCollectorJoint
        • Typedef crocoddyl::DataCollectorJointActMultibody
        • Typedef crocoddyl::DataCollectorJointActMultibodyInContact
        • Typedef crocoddyl::DataCollectorJointActuation
        • Typedef crocoddyl::DataCollectorMultibody
        • Typedef crocoddyl::DataCollectorMultibodyInContact
        • Typedef crocoddyl::DataCollectorMultibodyInImpulse
        • Typedef crocoddyl::DifferentialActionDataAbstract
        • Typedef crocoddyl::DifferentialActionDataContactFwdDynamics
        • Typedef crocoddyl::DifferentialActionDataContactInvDynamics
        • Typedef crocoddyl::DifferentialActionDataFreeFwdDynamics
        • Typedef crocoddyl::DifferentialActionDataFreeInvDynamics
        • Typedef crocoddyl::DifferentialActionDataLQR
        • Typedef crocoddyl::DifferentialActionDataNumDiff
        • Typedef crocoddyl::DifferentialActionModelAbstract
        • Typedef crocoddyl::DifferentialActionModelContactFwdDynamics
        • Typedef crocoddyl::DifferentialActionModelContactInvDynamics
        • Typedef crocoddyl::DifferentialActionModelFreeFwdDynamics
        • Typedef crocoddyl::DifferentialActionModelFreeInvDynamics
        • Typedef crocoddyl::DifferentialActionModelLQR
        • Typedef crocoddyl::DifferentialActionModelNumDiff
        • Typedef crocoddyl::ForceDataAbstract
        • Typedef crocoddyl::FrictionCone
        • Typedef crocoddyl::ImpulseData3D
        • Typedef crocoddyl::ImpulseData6D
        • Typedef crocoddyl::ImpulseDataAbstract
        • Typedef crocoddyl::ImpulseDataMultiple
        • Typedef crocoddyl::ImpulseItem
        • Typedef crocoddyl::ImpulseModel3D
        • Typedef crocoddyl::ImpulseModel6D
        • Typedef crocoddyl::ImpulseModelAbstract
        • Typedef crocoddyl::ImpulseModelMultiple
        • Typedef crocoddyl::IntegratedActionDataAbstract
        • Typedef crocoddyl::IntegratedActionDataEuler
        • Typedef crocoddyl::IntegratedActionDataRK
        • Typedef crocoddyl::IntegratedActionModelAbstract
        • Typedef crocoddyl::IntegratedActionModelEuler
        • Typedef crocoddyl::IntegratedActionModelRK
        • Typedef crocoddyl::JointDataAbstract
        • Typedef crocoddyl::ResidualDataAbstract
        • Typedef crocoddyl::ResidualDataCentroidalMomentum
        • Typedef crocoddyl::ResidualDataCoMPosition
        • Typedef crocoddyl::ResidualDataContactControlGrav
        • Typedef crocoddyl::ResidualDataContactCoPPosition
        • Typedef crocoddyl::ResidualDataContactForce
        • Typedef crocoddyl::ResidualDataContactFrictionCone
        • Typedef crocoddyl::ResidualDataContactWrenchCone
        • Typedef crocoddyl::ResidualDataControl
        • Typedef crocoddyl::ResidualDataControlGrav
        • Typedef crocoddyl::ResidualDataFramePlacement
        • Typedef crocoddyl::ResidualDataFrameRotation
        • Typedef crocoddyl::ResidualDataFrameTranslation
        • Typedef crocoddyl::ResidualDataFrameVelocity
        • Typedef crocoddyl::ResidualDataImpulseCoM
        • Typedef crocoddyl::ResidualDataJointAcceleration
        • Typedef crocoddyl::ResidualDataJointEffort
        • Typedef crocoddyl::ResidualDataNumDiff
        • Typedef crocoddyl::ResidualDataState
        • Typedef crocoddyl::ResidualModelAbstract
        • Typedef crocoddyl::ResidualModelCentroidalMomentum
        • Typedef crocoddyl::ResidualModelCoMPosition
        • Typedef crocoddyl::ResidualModelContactControlGrav
        • Typedef crocoddyl::ResidualModelContactCoPPosition
        • Typedef crocoddyl::ResidualModelContactForce
        • Typedef crocoddyl::ResidualModelContactFrictionCone
        • Typedef crocoddyl::ResidualModelContactWrenchCone
        • Typedef crocoddyl::ResidualModelControl
        • Typedef crocoddyl::ResidualModelControlGrav
        • Typedef crocoddyl::ResidualModelFramePlacement
        • Typedef crocoddyl::ResidualModelFrameRotation
        • Typedef crocoddyl::ResidualModelFrameTranslation
        • Typedef crocoddyl::ResidualModelFrameVelocity
        • Typedef crocoddyl::ResidualModelImpulseCoM
        • Typedef crocoddyl::ResidualModelJointAcceleration
        • Typedef crocoddyl::ResidualModelJointEffort
        • Typedef crocoddyl::ResidualModelNumDiff
        • Typedef crocoddyl::ResidualModelState
        • Typedef crocoddyl::ShootingProblem
        • Typedef crocoddyl::SquashingDataAbstract
        • Typedef crocoddyl::SquashingModelAbstract
        • Typedef crocoddyl::SquashingModelSmoothSat
        • Typedef crocoddyl::StateAbstract
        • Typedef crocoddyl::StateMultibody
        • Typedef crocoddyl::StateNumDiff
        • Typedef crocoddyl::StateVector
        • Typedef crocoddyl::Thruster
        • Typedef crocoddyl::WrenchCone
        • Typedef Float32
        • Typedef Float64
      • Directories
        • Directory include
        • Directory crocoddyl
        • Directory core
        • Directory actions
        • Directory activations
        • Directory actuation
        • Directory squashing
        • Directory codegen
        • Directory constraints
        • Directory controls
        • Directory costs
        • Directory data
        • Directory integrator
        • Directory numdiff
        • Directory optctrl
        • Directory residuals
        • Directory solvers
        • Directory ipopt
        • Directory states
        • Directory utils
        • Directory multibody
        • Directory actions
        • Directory actuations
        • Directory codegen
        • Directory contacts
        • Directory data
        • Directory impulses
        • Directory numdiff
        • Directory residuals
        • Directory states
        • Directory utils
      • Files
        • File 2norm-barrier.hpp
        • File action-base.hpp
        • File action-base.hpp
        • File action-base.hxx
        • File action.hpp
        • File action.hpp
        • File action.hxx
        • File action.hxx
        • File activation-base.hpp
        • File activation.hpp
        • File activation.hxx
        • File actuation-base.hpp
        • File actuation-base.hxx
        • File actuation-squashing.hpp
        • File actuation.hpp
        • File actuation.hpp
        • File actuation.hxx
        • File box-ddp.hpp
        • File box-fddp.hpp
        • File box-kkt.hpp
        • File box-qp.hpp
        • File callbacks.hpp
        • File centroidal-momentum.hpp
        • File centroidal-momentum.hxx
        • File com-position.hpp
        • File com-position.hxx
        • File constraint-base.hpp
        • File constraint-base.hxx
        • File constraint-manager.hpp
        • File constraint-manager.hxx
        • File constraint.hpp
        • File constraint.hxx
        • File contact-1d.hpp
        • File contact-1d.hxx
        • File contact-2d.hpp
        • File contact-2d.hxx
        • File contact-3d.hpp
        • File contact-3d.hxx
        • File contact-6d.hpp
        • File contact-6d.hxx
        • File contact-base.hpp
        • File contact-base.hxx
        • File contact-control-gravity.hpp
        • File contact-control-gravity.hxx
        • File contact-cop-position.hpp
        • File contact-cop-position.hxx
        • File contact-force.hpp
        • File contact-force.hxx
        • File contact-friction-cone.hpp
        • File contact-friction-cone.hxx
        • File contact-fwddyn.hpp
        • File contact-fwddyn.hxx
        • File contact-invdyn.hpp
        • File contact-invdyn.hxx
        • File contact-wrench-cone.hpp
        • File contact-wrench-cone.hxx
        • File contact.hpp
        • File contact.hxx
        • File contacts.hpp
        • File control-base.hpp
        • File control-base.hxx
        • File control-gravity.hpp
        • File control-gravity.hxx
        • File control.hpp
        • File control.hpp
        • File control.hxx
        • File control.hxx
        • File conversions.hpp
        • File cop-support.hpp
        • File cop-support.hxx
        • File cost-base.hpp
        • File cost-base.hpp
        • File cost-base.hxx
        • File cost-sum.hpp
        • File cost-sum.hxx
        • File cost.hpp
        • File cost.hpp
        • File cost.hxx
        • File data-collector-base.hpp
        • File ddp.hpp
        • File deprecate.hpp
        • File diff-action-base.hpp
        • File diff-action-base.hxx
        • File diff-action.hpp
        • File diff-action.hxx
        • File diff-lqr.hpp
        • File diff-lqr.hxx
        • File euclidean.hpp
        • File euclidean.hxx
        • File euler.hpp
        • File euler.hxx
        • File exception.hpp
        • File fddp.hpp
        • File file-io.hpp
        • File floating-base-thrusters.hpp
        • File floating-base.hpp
        • File force-base.hpp
        • File frame-placement.hpp
        • File frame-placement.hxx
        • File frame-rotation.hpp
        • File frame-rotation.hxx
        • File frame-translation.hpp
        • File frame-translation.hxx
        • File frame-velocity.hpp
        • File frame-velocity.hxx
        • File free-fwddyn.hpp
        • File free-fwddyn.hxx
        • File free-invdyn.hpp
        • File free-invdyn.hxx
        • File friction-cone.hpp
        • File friction-cone.hxx
        • File full.hpp
        • File fwd.hpp
        • File fwd.hpp
        • File impulse-3d.hpp
        • File impulse-3d.hxx
        • File impulse-6d.hpp
        • File impulse-6d.hxx
        • File impulse-base.hpp
        • File impulse-base.hxx
        • File impulse-com.hpp
        • File impulse-com.hxx
        • File impulse-fwddyn.hpp
        • File impulse-fwddyn.hxx
        • File impulses.hpp
        • File integ-action-base.hpp
        • File integ-action-base.hxx
        • File intro.hpp
        • File ipopt-iface.hpp
        • File ipopt.hpp
        • File joint-acceleration.hpp
        • File joint-acceleration.hxx
        • File joint-effort.hpp
        • File joint-effort.hxx
        • File joint.hpp
        • File kkt.hpp
        • File lqr.hpp
        • File lqr.hxx
        • File macros.hpp
        • File math.hpp
        • File mathbase.hpp
        • File motion-display.hpp
        • File multibody.hpp
        • File multibody.hpp
        • File multibody.hxx
        • File multiple-contacts.hpp
        • File multiple-contacts.hxx
        • File multiple-impulses.hpp
        • File multiple-impulses.hxx
        • File pair-collision.hpp
        • File pair-collision.hxx
        • File pch.hpp
        • File pch.hpp
        • File pinocchio_cast.hpp
        • File poly-one.hpp
        • File poly-one.hxx
        • File poly-two-rk.hpp
        • File poly-two-rk.hxx
        • File poly-zero.hpp
        • File poly-zero.hxx
        • File quadratic-barrier.hpp
        • File quadratic-flat-exp.hpp
        • File quadratic-flat-log.hpp
        • File quadratic.hpp
        • File quadruped-gaits.hpp
        • File residual-base.hpp
        • File residual-base.hxx
        • File residual.hpp
        • File residual.hpp
        • File residual.hpp
        • File residual.hxx
        • File residual.hxx
        • File residual.hxx
        • File rk.hpp
        • File rk.hxx
        • File robot-loader.hpp
        • File scalar.hpp
        • File shooting.hpp
        • File shooting.hxx
        • File smooth-1norm.hpp
        • File smooth-2norm.hpp
        • File smooth-abs.hpp
        • File smooth-sat.hpp
        • File solution-plot.hpp
        • File solver-base.hpp
        • File squashing-base.hpp
        • File state-base.hpp
        • File state-base.hxx
        • File state.hpp
        • File state.hpp
        • File state.hxx
        • File state.hxx
        • File stop-watch.hpp
        • File timer.hpp
        • File unicycle.hpp
        • File unicycle.hxx
        • File version.hpp
        • File weighted-quadratic-barrier.hpp
        • File weighted-quadratic.hpp
        • File wrench-cone.hpp
        • File wrench-cone.hxx
  • Standard Documents
    • PACKAGE
    • LICENSE
    • CHANGELOG
      • Changelog
        • Unreleased
        • 3.2.0 - 2025-12-09
        • 3.1.0 - 2025-10-02
        • 3.0.1 - 2025-03-21
        • 3.0.0 - 2025-03-19
        • 2.2.0 - 2025-02-10
        • 2.1.0 - 2024-05-31
        • 2.0.2 - 2023-12-07
        • 2.0.1 - 2023-06-17
        • 2.0.0 - 2023-05-13
        • 1.9.0 - 2022-03-03
        • 1.8.1 - 2021-08-01
        • 1.7.0 - 2021-05-05
        • 1.6.0 - 2021-02-01
        • 1.5.0 - 2020-09-23
        • 1.4.0 - 2020-08-05
        • 1.3.0 - 2020-05-25
        • 1.2.1 - 2020-04-21
        • 1.2.0 - 2020-04-03
        • 1.1.0 - 2020-02-14
        • 1.0.0 - 2019-08-30
    • CONTRIBUTING
      • I. About
      • II. Design pattern
      • III. Code Format
        • 1. Direct use of the provided docker image
        • 2. Manual use of each tool
    • README
      • Introduction
      • :crocodile: Crocoddyl features
      • :penguin: Installation
        • On ArchLinux
        • :dragon: From
        • From Nix
        • :snake: From
        • :turtle: With ROS
        • :package: From Debian / Ubuntu packages, with robotpkg
        • :file_folder: From source
      • :mag: Documentation
      • :telescope: Citing Crocoddyl
        • :open_book: Selected publications
      • :computer: Questions and Issues
      • :copyright: Credits
        • :writing_hand: Written by
        • :construction_worker: With contributions from
      • :trophy: Acknowledgments
  • ROS Package Dependencies
    • ament_cmake
    • eigenpy
    • pinocchio
  • Documentation
    • Overview {#index}
  • Index
crocoddyl: Rolling
  • C++ API
  • File control-base.hxx
  • View page source

File control-base.hxx

↰ Parent directory (include/crocoddyl/core)

Contents

  • Definition (include/crocoddyl/core/control-base.hxx)

  • Namespaces

  • Functions

Definition (include/crocoddyl/core/control-base.hxx)

  • Program Listing for File control-base.hxx

Namespaces

  • Namespace crocoddyl

Functions

  • Template Function crocoddyl::operator<<(std::ostream&, const ControlParametrizationModelAbstractTpl<Scalar>&)

Previous Next

© Copyright The <crocoddyl> Contributors. License: BSD-3-Clause.

Built with Sphinx using a theme provided by Read the Docs.