stage-data.hpp

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#pragma once
 
#include "aligator/fwd.hpp"
 
namespace aligator {

template <typename _Scalar> struct StageDataTpl {
  using Scalar = _Scalar;
  ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);
 
  using StageModel = StageModelTpl<Scalar>;
  using CostDataAbstract = CostDataAbstractTpl<Scalar>;
  using StageFunctionData = StageFunctionDataTpl<Scalar>;
  using DynamicsData = DynamicsDataTpl<Scalar>;

  std::vector<shared_ptr<StageFunctionData>> constraint_data;
  shared_ptr<CostDataAbstract> cost_data;
  // Data for the system dynamics.
  shared_ptr<DynamicsData> dynamics_data;

  explicit StageDataTpl(const StageModel &stage_model);
 
  virtual ~StageDataTpl() = default;

  virtual void checkData();
};
 
} // namespace aligator
 
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
#include "aligator/core/stage-data.txx"
#endif