fwd.hpp

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#pragma once
 
#include <proxsuite-nlp/fwd.hpp>
#include <proxsuite-nlp/config.hpp>
 
#ifdef ALIGATOR_WITH_PINOCCHIO
#include <pinocchio/config.hpp>
#if PINOCCHIO_VERSION_AT_LEAST(3, 0, 0)
#define ALIGATOR_PINOCCHIO_V3
#endif
#endif
 
#include "aligator/math.hpp"
#include "aligator/utils/exceptions.hpp"
#include "aligator/macros.hpp"
#include "aligator/eigen-macros.hpp"
#include "aligator/config.hpp"
#include "aligator/deprecated.hpp"
 
#define ALIGATOR_RAISE_IF_NAN(value)                                           \
  if (::aligator::math::check_value(value))                                    \
  ALIGATOR_RUNTIME_ERROR("Encountered NaN.\n")
 
#define ALIGATOR_RAISE_IF_NAN_NAME(value, name)                                \
  if (::aligator::math::check_value(value))                                    \
  ALIGATOR_RUNTIME_ERROR("Encountered NaN for variable {:s}\n", name)
 
namespace aligator {
 
// NOLINTBEGIN(misc-unused-using-decls)
 
#if PROXSUITE_NLP_VERSION_AT_LEAST(0, 9, 0)
using proxsuite::nlp::ConstraintSetTpl;
#else
template <typename T>
using ConstraintSetTpl = proxsuite::nlp::ConstraintSetBase<T>;
#endif
using proxsuite::nlp::ManifoldAbstractTpl;
// Use the math_types template from proxsuite-nlp.
using proxsuite::nlp::VerboseLevel;
 
using VerboseLevel::QUIET;
using VerboseLevel::VERBOSE;
using VerboseLevel::VERYVERBOSE;
 
using std::shared_ptr;
 
// NOLINTEND(misc-unused-using-decls)
 
// fwd StageFunctionTpl
template <typename Scalar> struct StageFunctionTpl;
 
// fwd UnaryFunctionTpl
template <typename Scalar> struct UnaryFunctionTpl;
 
// fwd StageFunctionDataTpl
template <typename Scalar> struct StageFunctionDataTpl;
 
// fwd CostAbstractTpl
template <typename Scalar> struct CostAbstractTpl;
 
// fwd CostDataAbstractTpl
template <typename Scalar> struct CostDataAbstractTpl;
 
// fwd DynamicsModelTpl
template <typename Scalar> struct DynamicsModelTpl;
 
// fwd DynamicsDataTpl
template <typename Scalar> struct DynamicsDataTpl;
 
// fwd StageConstraintTpl
template <typename Scalar> struct StageConstraintTpl;
 
// fwd ExplicitDynamicsModelTpl
template <typename Scalar> struct ExplicitDynamicsModelTpl;
 
// fwd declaration of ExplicitDynamicsDataTpl
template <typename Scalar> struct ExplicitDynamicsDataTpl;
 
/* FUNCTION EXPRESSIONS */
 
// fwd declaration of FunctionSliceXprTpl
template <typename Scalar, typename Base> struct FunctionSliceXprTpl;
 
/* STAGE MODEL */
 
// fwd StageModelTpl
template <typename Scalar> struct StageModelTpl;
 
// fwd StageDataTpl
template <typename Scalar> struct StageDataTpl;
 
// fwd CallbackBaseTpl
template <typename Scalar> struct CallbackBaseTpl;
 
/* SHOOTING PROBLEM */
 
// fwd ConstraintStackTpl
template <typename Scalar> struct ConstraintStackTpl;
 
// fwd TrajOptProblemTpl
template <typename Scalar> struct TrajOptProblemTpl;
 
// fwd TrajOptDataTpl
template <typename Scalar> struct TrajOptDataTpl;
 
// fwd SolverProxDDP
template <typename Scalar> struct SolverProxDDPTpl;
 
// fwd SolverFDDP
template <typename Scalar> struct SolverFDDPTpl;
 
// fwd WorkspaceBaseTpl
template <typename Scalar> struct WorkspaceBaseTpl;
 
// fwd ResultsBaseTpl
template <typename Scalar> struct ResultsBaseTpl;
 
// fwd WorkspaceTpl
template <typename Scalar> struct WorkspaceTpl;
 
// fwd ResultsTpl
template <typename Scalar> struct ResultsTpl;
 
// fwd FilterTpl
template <typename Scalar> struct FilterTpl;
 
template <typename T>
using StdVectorEigenAligned ALIGATOR_DEPRECATED_MESSAGE(
    "Aligator now requires C++17 and the Eigen::aligned_allocator<T> class is "
    "no longer useful. Please use std::vector<T> instead, this typedef will "
    "change to be an alias of that of the future, then will be removed.") =
    std::vector<T, Eigen::aligned_allocator<T>>;
 
template <typename T, typename... Args>
ALIGATOR_DEPRECATED_MESSAGE(
    "Aligator now requires C++17 and the Eigen::aligned_allocator<T> class is "
    "no longer useful. This function is now just an alias for "
    "std::make_shared, and will be removed in the future.")
inline auto allocate_shared_eigen_aligned(Args &&...args) {
  return std::make_shared<T>(std::forward<Args>(args)...);
}
 
} // namespace aligator