text: //
  // Copyright (c) 2019, University of Edinburgh
  // All rights reserved.
  //
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  // modification, are permitted provided that the following conditions are met:
  //
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  //  * Neither the name of  nor the names of its contributors may be used to
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  //
  // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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  #ifndef EXOTICA_DDP_SOLVER_CONTROL_LIMITED_DDP_SOLVER_H_
  #define EXOTICA_DDP_SOLVER_CONTROL_LIMITED_DDP_SOLVER_H_
  
  #include <exotica_ddp_solver/abstract_ddp_solver.h>
  #include <exotica_ddp_solver/control_limited_ddp_solver_initializer.h>
  #include <unsupported/Eigen/CXX11/Tensor>
  
  namespace exotica
  {
  // Control-limited DDP solver
  //  Control-limited Differential Dynamic Programming (Tassa, Mansard, Todorov, 2014)
  class ControlLimitedDDPSolver : public AbstractDDPSolver, public Instantiable<ControlLimitedDDPSolverInitializer>
  {
  public:
      void Instantiate(const ControlLimitedDDPSolverInitializer& init) override;
  
  private:
      ///\brief Computes the control gains for a the trajectory in the associated
      ///     DynamicTimeIndexedProblem.
      void BackwardPass() override;
  };
  }  // namespace exotica
  
  #endif  // EXOTICA_DDP_SOLVER_CONTROL_LIMITED_DDP_SOLVER_H_
  