function-abstract.hpp

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#pragma once
 
#include "aligator/fwd.hpp"
#include "aligator/core/clone.hpp"
 
#include <fmt/format.h>
#include <ostream>
 
namespace aligator {
 
template <typename _Scalar>
struct StageFunctionTpl
    : std::enable_shared_from_this<StageFunctionTpl<_Scalar>> {
public:
  using Scalar = _Scalar;
  ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);
  using Data = StageFunctionDataTpl<Scalar>;
 
  const int ndx1;
  const int nu;
  const int ndx2;
  const int nr;
 
  StageFunctionTpl(const int ndx1, const int nu, const int ndx2, const int nr);
 
  StageFunctionTpl(const int ndx, const int nu, const int nr);
 
  virtual void evaluate(const ConstVectorRef &x, const ConstVectorRef &u,
                        const ConstVectorRef &y, Data &data) const = 0;
 
  virtual void computeJacobians(const ConstVectorRef &x,
                                const ConstVectorRef &u,
                                const ConstVectorRef &y, Data &data) const = 0;
 
  virtual void computeVectorHessianProducts(const ConstVectorRef &x,
                                            const ConstVectorRef &u,
                                            const ConstVectorRef &y,
                                            const ConstVectorRef &lbda,
                                            Data &data) const;
 
  virtual ~StageFunctionTpl() = default;
 
  virtual shared_ptr<Data> createData() const;
};
 
template <typename _Scalar>
struct StageFunctionDataTpl : Cloneable<StageFunctionDataTpl<_Scalar>> {
  using Scalar = _Scalar;
  ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  const int ndx1;
  const int nu;
  const int ndx2;
  const int nr;
  const int nvar = ndx1 + nu + ndx2;
 
  VectorXs value_;
  VectorRef valref_;
  MatrixXs jac_buffer_;
  MatrixXs vhp_buffer_;
  MatrixRef Jx_;
  MatrixRef Ju_;
  MatrixRef Jy_;
 
  /* Vector-Hessian product buffers */
 
  MatrixRef Hxx_;
  MatrixRef Hxu_;
  MatrixRef Hxy_;
  MatrixRef Huu_;
  MatrixRef Huy_;
  MatrixRef Hyy_;
 
  StageFunctionDataTpl(const int ndx1, const int nu, const int ndx2,
                       const int nr);
  virtual ~StageFunctionDataTpl() = default;
 
  template <typename T>
  friend std::ostream &operator<<(std::ostream &oss,
                                  const StageFunctionDataTpl<T> &self);
 
protected:
  virtual StageFunctionDataTpl *clone_impl() const {
    return new StageFunctionDataTpl(*this);
  }
};
 
} // namespace aligator
 
#include "aligator/core/function-abstract.hxx"
 
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
#include "aligator/core/function-abstract.txx"
#endif