stage-data.hpp

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

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

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

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

  virtual void checkData() {
    constexpr std::string_view msg = "StageData integrity check failed.";
    if (cost_data == nullptr)
      ALIGATOR_RUNTIME_ERROR("{} (cost_data cannot be nullptr)", msg);
    if (dynamics_data == nullptr)
      ALIGATOR_RUNTIME_ERROR("{} (dynamics_data cannot be nullptr)", msg);
  }
};
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
extern template struct StageDataTpl<context::Scalar>;
#endif
} // namespace aligator