trajectory.hpp

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#pragma once
 
#include "aligator/math.hpp"
 
namespace aligator {
 
template <typename Scalar> struct TrajectoryTpl {
  using VectorXs = typename math_types<Scalar>::VectorXs;
  std::vector<VectorXs> xs;
  std::vector<VectorXs> us;
  std::vector<VectorXs> vs;
  std::vector<VectorXs> lbdas;
  long horizon() const { return xs.size() - 1; }
};
 
} // namespace aligator