control-box-function.hpp

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#pragma once
 
#include "aligator/core/function-abstract.hpp"
 
namespace aligator {
template <typename _Scalar>
struct ALIGATOR_DEPRECATED_MESSAGE(
    "ControlBoxFunction should not be used. Instead, just use the identity "
    "function and a BoxConstraint.") ControlBoxFunctionTpl
    : StageFunctionTpl<_Scalar> {
  using Scalar = _Scalar;
  ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);
  using Base = StageFunctionTpl<Scalar>;
  using Data = StageFunctionDataTpl<Scalar>;
 
  VectorXs umin_, umax_;

  ControlBoxFunctionTpl(const int ndx, const VectorXs &umin,
                        const VectorXs &umax);

  ControlBoxFunctionTpl(const int ndx, const int nu, const Scalar umin,
                        const Scalar umax);
 
  void evaluate(const ConstVectorRef &, const ConstVectorRef &u,
                Data &data) const override;

  void computeJacobians(const ConstVectorRef &, const ConstVectorRef &,
                        Data &data) const override;

  virtual shared_ptr<Data> createData() const override;
};
 
} // namespace aligator
 
#include "aligator/modelling/control-box-function.hxx"