riccati-base.hpp

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#pragma once
 
#include "aligator/context.hpp"
#include "aligator/math.hpp"
#include "aligator/gar/fwd.hpp"
#include <optional>
 
namespace aligator {
namespace gar {
 
template <typename _Scalar> class RiccatiSolverBase {
public:
  using Scalar = _Scalar;
  using LqrKnot = LqrKnotTpl<Scalar>;
  ALIGATOR_DYNAMIC_TYPEDEFS_WITH_ROW_TYPES(Scalar);
 
  virtual bool backward(const Scalar mueq) = 0;
 
  virtual bool
  forward(std::vector<VectorXs> &xs, std::vector<VectorXs> &us,
          std::vector<VectorXs> &vs, std::vector<VectorXs> &lbdas,
          const std::optional<ConstVectorRef> &theta_ = std::nullopt) const = 0;

  virtual void cycleAppend(const LqrKnot &knot) = 0;

  virtual void collapseFeedback() {}
  virtual VectorRef getFeedforward(size_t) = 0;
  virtual RowMatrixRef getFeedback(size_t) = 0;
 
  virtual ~RiccatiSolverBase() = default;
};
 
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
extern template class RiccatiSolverBase<context::Scalar>;
#endif
} // namespace gar
} // namespace aligator