6#include <fmt/ostream.h>
22 std::vector<VectorXs>
lams;
24 std::vector<VectorXs>
vs;
42 const ConstVectorRef &x0);
45template <
typename Scalar>
47 return oss << fmt::format(
"{}", self);
50#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
51extern template struct ResultsTpl<context::Scalar>;
55template <
typename Scalar>
struct fmt::formatter<aligator::ResultsTpl<Scalar>> {
56 constexpr auto parse(format_parse_context &ctx)
const
57 ->
decltype(ctx.begin()) {
62 format_context &ctx)
const ->
decltype(ctx.out()) {
63 auto s = self.printBase();
64 return fmt::format_to(ctx.out(),
"Results {{{}\n}}", s);
std::ostream & operator<<(std::ostream &oss, const StageFunctionDataTpl< T > &self)
std::vector< VectorXs > us
std::vector< VectorXs > xs
std::vector< MatrixXs > gains_
ResultsTpl(ResultsTpl &&)=default
ResultsTpl(const ResultsTpl &)=default
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
ResultsTpl & operator=(const ResultsTpl &)=default
std::vector< VectorXs > vs
ResultsBaseTpl< Scalar > Base
Trajectory optimization problem.