Namespace crocoddyl

Classes

• 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 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

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>>>&)

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

Variables

• Variable crocoddyl::DEFAULT_VECTOR