11template <
typename _Scalar>
15 using Base = StageFunctionTpl<Scalar>;
16 using Data = StageFunctionDataTpl<Scalar>;
20 virtual void evaluate(
const ConstVectorRef &x,
Data &data)
const = 0;
23 const ConstVectorRef & ,
26 void evaluate(
const ConstVectorRef &x,
const ConstVectorRef &,
27 const ConstVectorRef &,
Data &data)
const override {
32 const ConstVectorRef &,
Data &data)
const override {
37 const ConstVectorRef &,
38 const ConstVectorRef &,
39 const ConstVectorRef &lbda,
40 Data &data)
const override {
45#define ALIGATOR_UNARY_FUNCTION_INTERFACE(Scalar) \
46 using Base = UnaryFunctionTpl<Scalar>; \
47 using Base::evaluate; \
48 using Base::computeJacobians; \
49 using Base::computeVectorHessianProducts
53#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
54#include "./unary-function.txx"
Base definitions for ternary functions.
Class representing ternary functions .
Represents unary functions of the form , with no control (or next-state) arguments.
void evaluate(const ConstVectorRef &x, const ConstVectorRef &, const ConstVectorRef &, Data &data) const override
Evaluate the function.
virtual void evaluate(const ConstVectorRef &x, Data &data) const =0
virtual void computeJacobians(const ConstVectorRef &x, Data &data) const =0
virtual void computeVectorHessianProducts(const ConstVectorRef &, const ConstVectorRef &, Data &) const
ALIGATOR_DYNAMIC_TYPEDEFS(Scalar)
void computeJacobians(const ConstVectorRef &x, const ConstVectorRef &, const ConstVectorRef &, Data &data) const override
Compute Jacobians of this function.
void computeVectorHessianProducts(const ConstVectorRef &x, const ConstVectorRef &, const ConstVectorRef &, const ConstVectorRef &lbda, Data &data) const override
Compute the vector-hessian products of this function.