workspace.hpp

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#pragma once
 
#include "aligator/core/workspace-base.hpp"
#include "aligator/core/value-function.hpp"
#include <Eigen/Cholesky>
 
namespace aligator {
 
template <typename Scalar> struct WorkspaceFDDPTpl : WorkspaceBaseTpl<Scalar> {
  using VParams = ValueFunctionTpl<Scalar>;
  using QParams = QFunctionTpl<Scalar>;
  using Base = WorkspaceBaseTpl<Scalar>;
  ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);
  using Base::nsteps;
  using Base::trial_us;
  using Base::trial_xs;
 
  std::vector<VectorXs> dxs;
  std::vector<VectorXs> dus;
  std::vector<VectorXs> Quuks_;
  std::vector<VectorXs> ftVxx_;
  std::vector<MatrixXs> kktRhs;
  std::vector<Eigen::LLT<MatrixXs>> llts_;
  std::vector<VParams> value_params;
  std::vector<QParams> q_params;
 
  using RowMatrixXs = Eigen::Matrix<Scalar, -1, -1, Eigen::RowMajor>;
  std::vector<RowMatrixXs> JtH_temp_;
 
  Scalar dg_ = 0.;
  Scalar dq_ = 0.;
  Scalar dv_ = 0.;
  Scalar d1_ = 0.;
  Scalar d2_ = 0.;
 
  WorkspaceFDDPTpl() : Base(), value_params(), q_params() {}
  explicit WorkspaceFDDPTpl(const TrajOptProblemTpl<Scalar> &problem);
 
  void cycleLeft();
};
 
} // namespace aligator
 
#include "./workspace.hxx"
 
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
#include "./workspace.txx"
#endif