constraint.hpp

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#pragma once
 
#include "aligator/core/function-abstract.hpp"
 
namespace aligator {
 
template <typename Scalar> struct StageConstraintTpl {
  shared_ptr<StageFunctionTpl<Scalar>> func;
  shared_ptr<ConstraintSetBase<Scalar>> set;
  long nr() const { return func->nr; }
};
 
template <typename Scalar> struct ConstraintStackTpl {
  ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);
  using ConstraintType = StageConstraintTpl<Scalar>;
  using value_type = ConstraintType;
  using data_type = ConstraintType;
  using iterator = typename std::vector<ConstraintType>::iterator;
 
  ConstraintStackTpl() : indices_({0}) {};
 
  auto begin() { return storage_.begin(); }
  auto end() { return storage_.end(); }
 
  std::size_t size() const { return storage_.size(); }
  bool empty() const { return size() == 0; }
  void clear();
 
  void pushBack(const ConstraintType &el, const long nr);
  void pushBack(const ConstraintType &el);
 
  const std::vector<long> &dims() const { return dims_; }
  ALIGATOR_DEPRECATED const std::vector<long> &getDims() const { return dims_; }
 
  long totalDim() const { return total_dim_; }
 
  ConstraintType &operator[](std::size_t j) {
    assert((j < this->storage_.size()) && "i exceeds number of constraints!");
    return storage_[j];
  }
 
  const ConstraintType &operator[](std::size_t j) const {
    assert((j < this->storage_.size()) && "i exceeds number of constraints!");
    return storage_[j];
  }
 
protected:
  std::vector<ConstraintType> storage_;
  std::vector<long> indices_;
  std::vector<long> dims_;
  long total_dim_ = 0;
};
 
} // namespace aligator
 
#include "aligator/core/constraint.hxx"
 
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
#include "aligator/core/constraint.txx"
#endif