costs.hpp

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#pragma once
 
#include "aligator/python/fwd.hpp"
#include "aligator/core/cost-abstract.hpp"
 
namespace aligator {
namespace python {
struct PyCostFunction final
    : context::CostAbstract,
      PolymorphicWrapper<PyCostFunction, context::CostAbstract> {
  using Scalar = context::Scalar;
  using T = context::CostAbstract;
  using CostData = CostDataAbstractTpl<Scalar>;
  using context::CostAbstract::CostAbstractTpl;
  ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);
 
  void evaluate(const ConstVectorRef &x, const ConstVectorRef &u,
                CostData &data) const override {
    ALIGATOR_PYTHON_OVERRIDE_PURE(void, "evaluate", x, u, boost::ref(data));
  }
 
  void computeGradients(const ConstVectorRef &x, const ConstVectorRef &u,
                        CostData &data) const override {
    ALIGATOR_PYTHON_OVERRIDE_PURE(void, "computeGradients", x, u,
                                  boost::ref(data));
  }
 
  void computeHessians(const ConstVectorRef &x, const ConstVectorRef &u,
                       CostData &data) const override {
    ALIGATOR_PYTHON_OVERRIDE_PURE(void, "computeHessians", x, u,
                                  boost::ref(data));
  }
 
  shared_ptr<CostData> createData() const override {
    ALIGATOR_PYTHON_OVERRIDE(shared_ptr<CostData>, T, createData, );
  }
 
  shared_ptr<CostData> default_createData() const { return T::createData(); }
};
} // namespace python
} // namespace aligator
 
namespace boost::python::objects {
 
template <>
struct value_holder<aligator::python::PyCostFunction>
    : aligator::python::OwningNonOwningHolder<
          aligator::python::PyCostFunction> {
  using OwningNonOwningHolder::OwningNonOwningHolder;
};
 
} // namespace boost::python::objects