explicit-dynamics-direct-sum.hpp

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#pragma once
 
#include "aligator/core/explicit-dynamics.hpp"
#include "aligator/modelling/spaces/cartesian-product.hpp"
 
namespace aligator {

template <typename _Scalar>
struct DirectSumExplicitDynamicsTpl : ExplicitDynamicsModelTpl<_Scalar> {
  using Scalar = _Scalar;
  ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);
  using Base = ExplicitDynamicsModelTpl<Scalar>;
  using Manifold = ManifoldAbstractTpl<Scalar>;
  using CartesianProduct = aligator::CartesianProductTpl<Scalar>;
  using BaseData = ExplicitDynamicsDataTpl<Scalar>;
 
  struct Data;
 
  DirectSumExplicitDynamicsTpl(xyz::polymorphic<Base> f,
                               xyz::polymorphic<Base> g);
 
  void forward(const ConstVectorRef &x, const ConstVectorRef &u,
               BaseData &data) const override;
 
  void dForward(const ConstVectorRef &x, const ConstVectorRef &u,
                BaseData &data) const override;
 
  shared_ptr<BaseData> createData() const override {
    return std::make_shared<Data>(*this);
  }
 
  xyz::polymorphic<Base> f_, g_;
 
private:
  CartesianProduct product_space_;
};
 
template <typename Scalar>
struct DirectSumExplicitDynamicsTpl<Scalar>::Data : BaseData {
  shared_ptr<BaseData> data1_, data2_;
  Data(DirectSumExplicitDynamicsTpl const &model);
};
 
template <typename Scalar>
auto directSum(xyz::polymorphic<ExplicitDynamicsModelTpl<Scalar>> const &m1,
               xyz::polymorphic<ExplicitDynamicsModelTpl<Scalar>> const &m2) {
  return DirectSumExplicitDynamicsTpl<Scalar>(m1, m2);
}
 
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
extern template struct DirectSumExplicitDynamicsTpl<context::Scalar>;
#endif
} // namespace aligator