33 virtual void evaluate(
const ConstVectorRef &x,
const ConstVectorRef &u,
34 Data &data)
const = 0;
51 const ConstVectorRef &u,
Data &data)
const = 0;
62 const ConstVectorRef &u,
63 const ConstVectorRef &lbda,
113#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
114#include "aligator/core/function-abstract.txx"
std::ostream & operator<<(std::ostream &oss, const ExplicitDynamicsDataTpl< S > &self)
Base struct for function data.
StageFunctionDataTpl(const StageFunctionTpl< Scalar > &model)
StageFunctionDataTpl(const int ndx, const int nu, const int nr)
Default constructor.
virtual ~StageFunctionDataTpl()=default
ALIGATOR_DYNAMIC_TYPEDEFS(Scalar)
Class representing ternary functions .
virtual void computeVectorHessianProducts(const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &lbda, Data &data) const
Compute the vector-hessian products of this function.
virtual void computeJacobians(const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const =0
Compute Jacobians of this function.
virtual ~StageFunctionTpl()=default
StageFunctionDataTpl< Scalar > Data
virtual void evaluate(const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const =0
Evaluate the function.
virtual shared_ptr< Data > createData() const
Instantiate a Data object.
StageFunctionTpl(const int ndx, const int nu, const int nr)
ALIGATOR_DYNAMIC_TYPEDEFS(Scalar)