crocoddyl: Rolling
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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
Template Struct BoxQPSolutionTpl
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 DefaultVector
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
Template Struct IpoptInterfaceDataTpl
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
Template Class BoxQPTpl
Template Class CallbackAbstractTpl
Class CallbackBase
Template Class CallbackVerboseTpl
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
Template Class IpoptInterfaceTpl
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
Template Class SolverAbstractTpl
Class SolverBase
Class SolverBoxDDP
Template Class SolverBoxFDDPTpl
Class SolverDDP
Template Class SolverFDDPTpl
Template Class SolverIntroTpl
Class SolverIpopt
Template Class SolverKKTTpl
Template Class SolverOdynSQPTpl
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 DynamicsSolverType
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::matrix_random_cast
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
Template Function crocoddyl::raiseIfNaN
Template Function crocoddyl::scalar_cast
Template Function crocoddyl::ScaleNumerics
Template Function crocoddyl::vector_cast(const std::vector<Scalar>&)
Template Function crocoddyl::vector_cast(const std::vector<Eigen::Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols>>&)
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 crocoddyl::vector_random_cast
Template Function std::make_unique
Variables
Template Variable crocoddyl::DefaultVector< Scalar >::value
Defines
Define assert_pretty
Define CROCODDYL_BASE_CAST
Define CROCODDYL_BASE_DERIVED_CAST
Define CROCODDYL_BASE_DERIVED_FLOATINGPOINT_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_DISABLE_WARNING_DEPRECATED
Define CROCODDYL_ENABLE_WARNING_DEPRECATED
Define CROCODDYL_INNER_DERIVED_CAST
Define DEFAULT_SCALAR
Define DEFAULT_VECTOR
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::BoxQP
Typedef crocoddyl::BoxQPSolution
Typedef crocoddyl::CallbackAbstract
Typedef crocoddyl::CallbackVerbose
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::Scalar
Typedef crocoddyl::ShootingProblem
Typedef crocoddyl::SolverAbstract
Typedef crocoddyl::SolverBoxFDDP
Typedef crocoddyl::SolverFDDP
Typedef crocoddyl::SolverIntro
Typedef crocoddyl::SolverKKT
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-deprecated.hpp
File box-ddp.hpp
File box-fddp.hpp
File box-fddp.hxx
File box-kkt.hpp
File box-qp.hpp
File box-qp.hxx
File callbacks.hpp
File callbacks.hxx
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-deprecated.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 fddp.hxx
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 intro.hxx
File ipopt-iface.hpp
File ipopt-iface.hxx
File ipopt.hpp
File ipopt.hxx
File joint-acceleration.hpp
File joint-acceleration.hxx
File joint-effort.hpp
File joint-effort.hxx
File joint.hpp
File kkt.hpp
File kkt.hxx
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 odyn-sqp.hpp
File odyn-sqp.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 solver-base.hxx
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
CONTRIBUTING
I. About
II. Design pattern
III. Code Format
1. Direct use of the provided docker image
2. Manual use of each tool
PACKAGE
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
CHANGELOG
Changelog
Unreleased
3.2.1 - 2026-04-16
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
LICENSE
ROS Package Dependencies
ament_cmake
eigenpy
pinocchio
Documentation
Overview {#index}
Index
crocoddyl: Rolling
C++ API
Template Function crocoddyl::pi
View page source
Template Function crocoddyl::pi
Defined in
File math.hpp
Function Documentation
template
<
typename
Scalar
>
Scalar
crocoddyl
::
pi
(
)