6#include <fmt/ostream.h>
22 std::vector<VectorXs>
lams;
24 std::vector<VectorXs>
vs;
41 const ConstVectorRef &x0);
44template <
typename Scalar>
48 return oss << fmt::format(
"\n al_iters: {:d},", self.
al_iter) <<
"\n}";
53template <
typename Scalar>
54struct fmt::formatter<
aligator::ResultsTpl<Scalar>> : fmt::ostream_formatter {};
56#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
57#include "./results.txx"
std::ostream & operator<<(std::ostream &oss, const ExplicitDynamicsDataTpl< S > &self)
std::vector< VectorXs > us
std::vector< VectorXs > xs
std::vector< MatrixXs > gains_
void printBase(std::ostream &oss) const
ResultsTpl(ResultsTpl &&)=default
ResultsTpl(const ResultsTpl &)=delete
ResultsTpl(const TrajOptProblemTpl< Scalar > &problem)
Create the results struct from a problem (TrajOptProblemTpl) instance.
ALIGATOR_DYNAMIC_TYPEDEFS(Scalar)
std::vector< VectorXs > lams
void cycleAppend(const TrajOptProblemTpl< Scalar > &problem, const ConstVectorRef &x0)
ResultsTpl & operator=(ResultsTpl &&)=default
std::vector< VectorXs > vs
ResultsTpl & operator=(const ResultsTpl &)=delete
ResultsBaseTpl< Scalar > Base
Trajectory optimization problem.