results.hpp

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#pragma once
 
#include "aligator/solvers/results-base.hpp"
#include <fmt/ostream.h>
#include <fmt/format.h>
 
namespace aligator {

template <typename _Scalar> struct ResultsTpl final : ResultsBaseTpl<_Scalar> {
  using Scalar = _Scalar;
  ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);
  using Base = ResultsBaseTpl<Scalar>;
  using Base::conv;
  using Base::gains_;
  using Base::num_iters;
  using Base::us;
  using Base::xs;

  std::vector<VectorXs> lams;
  std::vector<VectorXs> vs;
  std::size_t al_iter = 0;
 
  explicit ResultsTpl()
      : Base() {}
 
  ResultsTpl(const ResultsTpl &) = default;
  ResultsTpl &operator=(const ResultsTpl &) = default;
 
  ResultsTpl(ResultsTpl &&) = default;
  ResultsTpl &operator=(ResultsTpl &&) = default;

  explicit ResultsTpl(const TrajOptProblemTpl<Scalar> &problem);
 
  void cycleAppend(const TrajOptProblemTpl<Scalar> &problem,
                   const ConstVectorRef &x0);
};
 
template <typename Scalar>
std::ostream &operator<<(std::ostream &oss, const ResultsTpl<Scalar> &self) {
  return oss << fmt::format("{}", self);
}
 
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
extern template struct ResultsTpl<context::Scalar>;
#endif
} // namespace aligator
 
template <typename Scalar> struct fmt::formatter<aligator::ResultsTpl<Scalar>> {
  constexpr auto parse(format_parse_context &ctx) const
      -> decltype(ctx.begin()) {
    return ctx.end();
  }
 
  auto format(const aligator::ResultsTpl<Scalar> &self,
              format_context &ctx) const -> decltype(ctx.out()) {
    auto s = self.printBase();
    return fmt::format_to(ctx.out(), "Results {{{}\n}}", s);
  }
};