GitLab

Memory alignement of frame classes with boost python

Initilized the BoxQP data

Register converters for shared_ptrs of solver classes

Fix build with C++98

Fix:
…/include/crocoddyl/core/utils/file-io.hpp:29:22: error: no matching function for call to 'std::basic_ofstream<char>::open(const string&)'
fs_.open(filename);
^

on 16.04, the default compiler shows:

In file included from …/bindings/python/crocoddyl/core/integrator/rk4.cpp:11:0:
…/include/crocoddyl/core/integrator/rk4.hpp:122:73: error: '>>' should be '> >' within a nested template argument list
std::vector>> differential;
^
…/include/crocoddyl/core/integrator/rk4.hpp: In constructor 'crocoddyl::IntegratedActionDataRK4Tpl::IntegratedActionDataRK4Tpl(Model<_Scalar>*)':
…/include/crocoddyl/core/integrator/rk4.hpp:89:69: error: '>>' should be '> >' within a nested template argument list
boost::shared_ptr>(model->get_differential()->createData()));
^

Using StateAbstract in CostModelAbstract API (do not break previous code)

Added doxygen documentation of the action/diff-action

Added doxygen documentation + improved docstring one for cost models

There are only two cost functions that don't strictly depend on
StateMultibody. These costs are: state and control.
However, the state has an efficient routine, which exploits the
derivatives structure, if the multibody state is passed