constant-cost.hpp

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#pragma once
 
#include "aligator/core/cost-abstract.hpp"
 
namespace aligator {
 
template <typename _Scalar> struct ConstantCostTpl : CostAbstractTpl<_Scalar> {
  using Scalar = _Scalar;
  ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);
  using Base = CostAbstractTpl<Scalar>;
  using CostData = CostDataAbstractTpl<Scalar>;
  using Manifold = ManifoldAbstractTpl<Scalar>;
 
  Scalar value_;
  ConstantCostTpl(xyz::polymorphic<Manifold> space, const int nu,
                  const Scalar value)
      : Base(space, nu), value_(value) {}
  void evaluate(const ConstVectorRef &, const ConstVectorRef &,
                CostData &data) const override {
    data.value_ = value_;
  }
 
  void computeGradients(const ConstVectorRef &, const ConstVectorRef &,
                        CostData &) const override {}
 
  void computeHessians(const ConstVectorRef &, const ConstVectorRef &,
                       CostData &) const override {}
 
  shared_ptr<CostData> createData() const override {
    auto d = Base::createData();
    d->value_ = value_;
    return d;
  }
};
 
} // namespace aligator