36 constexpr std::string_view msg =
"StageData integrity check failed.";
43#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
44extern template struct StageDataTpl<context::Scalar>;
#define ALIGATOR_RUNTIME_ERROR(...)
Data struct for CostAbstractTpl.
Specific data struct for explicit dynamics ExplicitDynamicsModelTpl.
shared_ptr< DynamicsData > dynamics_data
shared_ptr< CostData > cost_data
std::vector< shared_ptr< StageFunctionData > > constraint_data
virtual ~StageDataTpl()=default
StageDataTpl(const StageModel &stage_model)
Constructor.
CostDataAbstractTpl< Scalar > CostData
ALIGATOR_DYNAMIC_TYPEDEFS(Scalar)
StageModelTpl< Scalar > StageModel
StageFunctionDataTpl< Scalar > StageFunctionData
ExplicitDynamicsDataTpl< Scalar > DynamicsData
virtual void checkData()
Check data integrity.
Base struct for function data.
A stage in the control problem.