38#include "aligator/core/traj-opt-data.hxx"
40#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
41#include "aligator/core/traj-opt-data.txx"
Scalar cost_
Current cost in the TO problem.
TrajOptDataTpl(const TrajOptProblemTpl< Scalar > &problem)
std::vector< shared_ptr< StageFunctionData > > term_cstr_data
Terminal constraint data.
shared_ptr< CostData > term_cost_data
Terminal cost data.
std::vector< shared_ptr< StageData > > stage_data
Data structs for each stage of the problem.
ALIGATOR_DYNAMIC_TYPEDEFS(Scalar)
std::size_t numSteps() const
shared_ptr< StageFunctionData > init_data
Data for the initial condition.
StageConstraintTpl< Scalar > ConstraintType