38template <
typename Scalar>
43#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
44#include "aligator/core/traj-opt-data.txx"
Scalar computeTrajectoryCost(const TrajOptDataTpl< Scalar > &problem_data)
Helper for computing the trajectory cost (from pre-computed problem data).
Data struct for CostAbstractTpl.
Data struct for stage models StageModelTpl.
Base struct for function data.
StageFunctionDataTpl< Scalar > StageFunctionData
TrajOptDataTpl(const TrajOptProblemTpl< Scalar > &problem)
CostDataAbstractTpl< Scalar > CostData
std::vector< shared_ptr< StageFunctionData > > term_cstr_data
shared_ptr< CostData > term_cost_data
std::vector< shared_ptr< StageData > > stage_data
ALIGATOR_DYNAMIC_TYPEDEFS(Scalar)
std::size_t numSteps() const
shared_ptr< StageFunctionData > init_data
StageDataTpl< Scalar > StageData
Trajectory optimization problem.