13 using Base = ResultsBaseTpl<Scalar>;
21 std::vector<VectorXs>
lams;
23 std::vector<VectorXs>
vs;
37 explicit ResultsTpl(
const TrajOptProblemTpl<Scalar> &problem);
40template <
typename Scalar>
41std::ostream &
operator<<(std::ostream &oss,
const ResultsTpl<Scalar> &self) {
44 return oss << fmt::format(
"\n al_iters: {:d},", self.al_iter) <<
"\n}";
49template <
typename Scalar>
50struct fmt::formatter<
aligator::ResultsTpl<Scalar>> : fmt::ostream_formatter {};
52#include "./results.hxx"
54#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
55#include "./results.txx"
std::ostream & operator<<(std::ostream &oss, const ExplicitDynamicsDataTpl< S > &self)
std::vector< VectorXs > us
Controls.
std::vector< VectorXs > xs
States.
std::vector< MatrixXs > gains_
Riccati gains.
ResultsTpl(ResultsTpl &&)=default
ResultsTpl(const ResultsTpl &)=delete
std::size_t al_iter
Proximal/AL iteration count.
ResultsTpl(const TrajOptProblemTpl< Scalar > &problem)
Create the results struct from a problem (TrajOptProblemTpl) instance.
ALIGATOR_DYNAMIC_TYPEDEFS(Scalar)
std::vector< VectorXs > lams
Problem co-states.
ResultsTpl & operator=(ResultsTpl &&)=default
std::vector< VectorXs > vs
Path constraint multipliers.
ResultsTpl & operator=(const ResultsTpl &)=delete