aligator  0.6.1
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
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callback-base.hpp
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1#pragma once
2
3#include "aligator/fwd.hpp"
4#include <boost/any.hpp>
5
6namespace aligator {
7
9template <typename Scalar> struct CallbackBaseTpl {
10 using Workspace = WorkspaceBaseTpl<Scalar>;
11 using Results = ResultsBaseTpl<Scalar>;
12 virtual void call(const Workspace &, const Results &) = 0;
14 virtual void post_linesearch_call(boost::any) {}
15 virtual ~CallbackBaseTpl() = default;
16};
17
18} // namespace aligator
19
20#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
21#include "aligator/core/callback-base.txx"
22#endif
Forward declarations.
Main package namespace.
Base callback class.
virtual void call(const Workspace &, const Results &)=0
virtual void post_linesearch_call(boost::any)
Call this after linesearch.
virtual ~CallbackBaseTpl()=default
Base workspace struct for the algorithms.