fwd.hpp

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#pragma once
 
#ifdef EIGEN_DEFAULT_IO_FORMAT
#undef EIGEN_DEFAULT_IO_FORMAT
#endif
#define EIGEN_DEFAULT_IO_FORMAT                                                \
  Eigen::IOFormat(Eigen::StreamPrecision, 0, ",", "\n", "[", "]")
 
#include "aligator/math.hpp"
#include "aligator/utils/exceptions.hpp"
#include "aligator/config.hpp"
#include "aligator/deprecated.hpp"
 
#include <memory>
 
#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)
 
#define ALIGATOR_INLINE inline __attribute__((always_inline))

#if defined(__GNUC__) || defined(__clang__)
#define ALIGATOR_COMPILER_DIAGNOSTIC_PUSH ALIGATOR_PRAGMA(GCC diagnostic push)
#define ALIGATOR_COMPILER_DIAGNOSTIC_POP ALIGATOR_PRAGMA(GCC diagnostic pop)
#if defined(__clang__)
#define ALIGATOR_COMPILER_DIAGNOSTIC_IGNORED_DELETE_NON_ABSTRACT_NON_VIRTUAL_DTOR
ALIGATOR_PRAGMA(GCC diagnostic ignored "-Wdelete-non-abstract-non-virtual-dtor")
#else
#define ALIGATOR_COMPILER_DIAGNOSTIC_IGNORED_DELETE_NON_ABSTRACT_NON_VIRTUAL_DTOR
#endif
#elif defined(WIN32)
#define ALIGATOR_COMPILER_DIAGNOSTIC_PUSH _Pragma("warning(push)")
#define ALIGATOR_COMPILER_DIAGNOSTIC_POP _Pragma("warning(pop)")
#define ALIGATOR_COMPILER_DIAGNOSTIC_IGNORED_DELETE_NON_ABSTRACT_NON_VIRTUAL_DTOR
#else
#define ALIGATOR_COMPILER_DIAGNOSTIC_PUSH
#define ALIGATOR_COMPILER_DIAGNOSTIC_POP
#define ALIGATOR_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
#define ALIGATOR_COMPILER_DIAGNOSTIC_IGNORED_VARIADIC_MACROS
#define ALIGATOR_COMPILER_DIAGNOSTIC_IGNORED_SELF_ASSIGN_OVERLOADED
#define ALIGATOR_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
#endif // __GNUC__ || __clang__
 
namespace xyz {
// fwd-decl for boost override later
template <class T, class A> class polymorphic;
} // namespace xyz


namespace aligator {
 
template <typename Base, typename U, typename A = std::allocator<U>>
using is_polymorphic_of = std::is_same<std::decay_t<U>, xyz::polymorphic<U, A>>;
 
template <typename Base, typename U, typename A = std::allocator<U>>
constexpr bool is_polymorphic_of_v = is_polymorphic_of<Base, U, A>::value;
 
// NOLINTBEGIN(misc-unused-using-decls)
 
// fwd ManifoldAbstractTpl
template <typename Scalar> struct ManifoldAbstractTpl;
 
// fwd VectorSpaceTpl
template <typename Scalar, int Dim = Eigen::Dynamic> struct VectorSpaceTpl;
 
// fwd ConstraintSetTpl
template <typename Scalar> struct ConstraintSetTpl;

enum VerboseLevel { QUIET = 0, VERBOSE = 1, VERYVERBOSE = 2 };
 
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>>;
 
} // namespace aligator