merit-function.hpp

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#pragma once
 
#include "aligator/fwd.hpp"
#include "aligator/core/traj-opt-problem.hpp"
 
namespace aligator {
 
template <typename Scalar> class ConstraintProximalScalerTpl;

template <typename Scalar>
Scalar costDirectionalDerivative(const WorkspaceTpl<Scalar> &workspace,
                                 const TrajOptDataTpl<Scalar> &prob_data);

template <typename _Scalar> struct ALFunction {
  using Scalar = _Scalar;
  ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);
  using StageModel = StageModelTpl<Scalar>;
  using StageData = StageDataTpl<Scalar>;
  using StageFunctionData = StageFunctionDataTpl<Scalar>;
  using ConstraintStack = ConstraintStackTpl<Scalar>;
  using Workspace = WorkspaceTpl<Scalar>;
  using TrajOptProblem = TrajOptProblemTpl<Scalar>;
  using TrajOptData = TrajOptDataTpl<Scalar>;

  static Scalar evaluate(const Scalar mudyn, const Scalar mucstr,
                         const TrajOptProblem &problem, Workspace &workspace);
 
  static Scalar directionalDerivative(const Scalar mudyn, const Scalar mucstr,
                                      const TrajOptProblem &problem,
                                      Workspace &workspace);
};
 
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
extern template struct ALFunction<context::Scalar>;
extern template context::Scalar costDirectionalDerivative<context::Scalar>(
    const WorkspaceTpl<context::Scalar> &workspace,
    const TrajOptDataTpl<context::Scalar> &prob_data);
#endif
} // namespace aligator