traj-opt-data.hpp

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

template <typename _Scalar> struct TrajOptDataTpl {
  using Scalar = _Scalar;
  ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);
  using StageFunctionData = StageFunctionDataTpl<Scalar>;
  using StageData = StageDataTpl<Scalar>;
  using CostData = CostDataAbstractTpl<Scalar>;

  Scalar cost_ = 0.;

  shared_ptr<StageFunctionData> init_data;
  std::vector<shared_ptr<StageData>> stage_data;
  shared_ptr<CostData> term_cost_data;
  std::vector<shared_ptr<StageFunctionData>> term_cstr_data;
 
  inline std::size_t numSteps() const { return stage_data.size(); }
 
  TrajOptDataTpl() = default;
  TrajOptDataTpl(const TrajOptProblemTpl<Scalar> &problem);
};

template <typename Scalar>
Scalar computeTrajectoryCost(const TrajOptDataTpl<Scalar> &problem_data);
 
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
extern template struct TrajOptDataTpl<context::Scalar>;
extern template context::Scalar computeTrajectoryCost<context::Scalar>(
    const context::TrajOptData &problem_data);
#endif
} // namespace aligator