centroidal-wrapper.hpp

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#pragma once
 
#include "aligator/core/unary-function.hpp"
#include <proxsuite-nlp/third-party/polymorphic_cxx14.hpp>
 
namespace aligator {
 
template <typename Scalar> struct CentroidalWrapperDataTpl;
 
template <typename _Scalar>
struct CentroidalWrapperResidualTpl : UnaryFunctionTpl<_Scalar> {
public:
  using Scalar = _Scalar;
  ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);
  ALIGATOR_UNARY_FUNCTION_INTERFACE(Scalar);
  using FunPtr = xyz::polymorphic<StageFunctionTpl<Scalar>>;
  using BaseData = typename Base::Data;
  using Data = CentroidalWrapperDataTpl<Scalar>;
 
  CentroidalWrapperResidualTpl(FunPtr centroidal_cost)
      : Base(centroidal_cost->ndx1 + centroidal_cost->nu, centroidal_cost->nu,
             centroidal_cost->nr),
        centroidal_cost_(centroidal_cost) {}
 
  void evaluate(const ConstVectorRef &x, BaseData &data) const;
 
  void computeJacobians(const ConstVectorRef &x, BaseData &data) const;
 
  shared_ptr<BaseData> createData() const {
    return std::make_shared<Data>(this);
  }
 
  FunPtr centroidal_cost_;
};
 
template <typename Scalar>
struct CentroidalWrapperDataTpl : StageFunctionDataTpl<Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  using Base = StageFunctionDataTpl<Scalar>;
 
  shared_ptr<Base> wrapped_data_;
 
  CentroidalWrapperDataTpl(const CentroidalWrapperResidualTpl<Scalar> *model);
};
 
} // namespace aligator
 
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
#include "aligator/modelling/centroidal/centroidal-wrapper.txx"
#endif