history-callback.hpp

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#pragma once
 
#include "aligator/core/callback-base.hpp"
#include "aligator/solvers/workspace-base.hpp"
#include "aligator/solvers/results-base.hpp"
 
#include <typeindex>
#include <any>
 
namespace aligator {

template <typename Scalar> struct HistoryCallbackTpl : CallbackBaseTpl<Scalar> {
  using Workspace = WorkspaceBaseTpl<Scalar>;
  using Results = ResultsBaseTpl<Scalar>;
  template <typename Solver>
  HistoryCallbackTpl(Solver *solver, bool store_pd_vars = false,
                     bool store_values = true)
      : store_primal_dual_vars_(store_pd_vars)
      , store_values_(store_values)
      , rtti_(typeid(*solver))
      , solver_(solver) {}
 
  ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);
 
  std::vector<std::vector<VectorXs>> xs;
  std::vector<std::vector<VectorXs>> us;
  std::vector<std::vector<VectorXs>> lams;
  std::vector<Scalar> values;
  std::vector<Scalar> merit_values;
  std::vector<Scalar> prim_infeas;
  std::vector<Scalar> dual_infeas;
  std::vector<Scalar> inner_crits;
  std::vector<std::size_t> al_index;
  std::vector<Scalar> prim_tols;
  std::vector<Scalar> dual_tols;
 
  void call(const Workspace & /*workspace*/, const Results &results);
 
  bool store_primal_dual_vars_;
  bool store_values_;
 
private:
  std::type_index rtti_;
  std::any solver_;
};
 
} // namespace aligator
 
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
#include "./history-callback.txx"
#endif