composite-costs.hpp

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#pragma once
 
#include "aligator/fwd.hpp"
#include "aligator/core/function-abstract.hpp"
#include "aligator/core/cost-abstract.hpp"
 
#include <fmt/ostream.h>
 
namespace aligator {
 
template <typename Scalar>
struct CompositeCostDataTpl : CostDataAbstractTpl<Scalar> {
  ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);
  using Base = CostDataAbstractTpl<Scalar>;
  using StageFunctionData = StageFunctionDataTpl<Scalar>;
  using RowMatrixXs = Eigen::Matrix<Scalar, -1, -1, Eigen::RowMajor>;
 
  shared_ptr<StageFunctionData> residual_data;
  RowMatrixXs JtW_buf;
  VectorXs Wv_buf;
  CompositeCostDataTpl(const int ndx, const int nu,
                       shared_ptr<StageFunctionData> rdata)
      : Base(ndx, nu), residual_data(rdata), JtW_buf(ndx + nu, rdata->nr),
        Wv_buf(rdata->nr) {
    JtW_buf.setZero();
    Wv_buf.setZero();
  }
};
 
} // namespace aligator
 
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
#include "./composite-costs.txx"
#endif