results.hpp

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#pragma once
 
#include "aligator/core/traj-opt-problem.hpp"
#include "aligator/solvers/results-base.hpp"
 
namespace aligator {
 
template <typename Scalar>
struct ResultsFDDPTpl final : ResultsBaseTpl<Scalar> {
 
  ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);
  using Base = ResultsBaseTpl<Scalar>;
  using BlockXs = Eigen::Block<MatrixXs, -1, -1>;
 
  using Base::gains_;
  using Base::us;
  using Base::xs;
 
  ResultsFDDPTpl()
      : Base() {}
  explicit ResultsFDDPTpl(const TrajOptProblemTpl<Scalar> &problem);
};
 
template <typename Scalar>
ResultsFDDPTpl<Scalar>::ResultsFDDPTpl(
    const TrajOptProblemTpl<Scalar> &problem) {
  if (!problem.checkIntegrity())
    ALIGATOR_RUNTIME_ERROR("Problem failed integrity check.");
  using StageModel = StageModelTpl<Scalar>;
 
  const std::size_t nsteps = problem.numSteps();
  xs.resize(nsteps + 1);
  us.resize(nsteps);
 
  problem.initializeSolution(xs, us);
 
  gains_.resize(nsteps);
 
  for (std::size_t i = 0; i < nsteps; i++) {
    const StageModel &sm = *problem.stages_[i];
 
    const int ndx = sm.ndx1();
    const int nu = sm.nu();
 
    gains_[i].setZero(nu, ndx + 1);
  }
  this->m_isInitialized = true;
}
 
} // namespace aligator
 
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
#include "./results.txx"
#endif