11template <
typename Scalar>
13 const TrajOptDataTpl<Scalar> &prob_data);
61 const std::vector<VectorXs> &lams,
62 const std::vector<VectorXs> &vs,
Workspace &workspace);
66 const std::vector<VectorXs> &lams,
67 const std::vector<VectorXs> &vs,
73#include "merit-function.hxx"
75#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
76#include "merit-function.txx"
Scalar costDirectionalDerivative(const WorkspaceTpl< Scalar > &workspace, const TrajOptDataTpl< Scalar > &prob_data)
Primal-dual augmented Lagrangian merit function.
ConstraintStackTpl< Scalar > ConstraintStack
TrajOptProblemTpl< Scalar > TrajOptProblem
static Scalar evaluate(const Scalar mu, const TrajOptProblem &problem, const std::vector< VectorXs > &lams, const std::vector< VectorXs > &vs, Workspace &workspace)
Compute the merit function at the trial point.
ALIGATOR_DYNAMIC_TYPEDEFS(Scalar)
WorkspaceTpl< Scalar > Workspace
ConstraintProximalScalerTpl< Scalar > CstrProximalScaler
static Scalar directionalDerivative(const Scalar mu, const TrajOptProblem &problem, const std::vector< VectorXs > &lams, const std::vector< VectorXs > &vs, Workspace &workspace)