costs.hpp

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#pragma once
 
#include "aligator/python/fwd.hpp"
#include "aligator/core/cost-abstract.hpp"
 
namespace aligator {
namespace python {
namespace internal {
template <typename T = context::CostAbstract>
struct PyCostFunction : T, bp::wrapper<T> {
  using Scalar = context::Scalar;
  using bp::wrapper<T>::get_override;
  using CostData = CostDataAbstractTpl<Scalar>;
  ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);
 
  template <typename... Args>
  PyCostFunction(Args &&...args) : T(std::forward<Args>(args)...) {}
 
  virtual void evaluate(const ConstVectorRef &x, const ConstVectorRef &u,
                        CostData &data) const override {
    ALIGATOR_PYTHON_OVERRIDE_PURE(void, "evaluate", x, u, boost::ref(data));
  }
 
  virtual void computeGradients(const ConstVectorRef &x,
                                const ConstVectorRef &u,
                                CostData &data) const override {
    ALIGATOR_PYTHON_OVERRIDE_PURE(void, "computeGradients", x, u,
                                  boost::ref(data));
  }
 
  virtual void computeHessians(const ConstVectorRef &x, const ConstVectorRef &u,
                               CostData &data) const override {
    ALIGATOR_PYTHON_OVERRIDE_PURE(void, "computeHessians", x, u,
                                  boost::ref(data));
  }
 
  virtual shared_ptr<CostData> createData() const override {
    ALIGATOR_PYTHON_OVERRIDE(shared_ptr<CostData>, T, createData, );
  }
};
} // namespace internal
 
} // namespace python
} // namespace aligator