unary-function.hpp

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#pragma once
 
#include "aligator/core/function-abstract.hpp"
 
namespace aligator {

template <typename _Scalar>
struct UnaryFunctionTpl : StageFunctionTpl<_Scalar> {
  using Scalar = _Scalar;
  ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);
  using Base = StageFunctionTpl<Scalar>;
  using Data = StageFunctionDataTpl<Scalar>;
 
  using Base::Base;
 
  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 & /*x*/,
                                            const ConstVectorRef & /*lbda*/,
                                            Data & /*data*/) const {}
 
  void evaluate(const ConstVectorRef &x, const ConstVectorRef &,
                Data &data) const override {
    this->evaluate(x, data);
  }
 
  void computeJacobians(const ConstVectorRef &x, const ConstVectorRef &,
                        Data &data) const override {
    this->computeJacobians(x, data);
  }
 
  void computeVectorHessianProducts(const ConstVectorRef &x,
                                    const ConstVectorRef &,
                                    const ConstVectorRef &lbda,
                                    Data &data) const override {
    this->computeVectorHessianProducts(x, lbda, data);
  }
};
 
#define ALIGATOR_UNARY_FUNCTION_INTERFACE(Scalar)                              \
  using Base = UnaryFunctionTpl<Scalar>;                                       \
  using Base::evaluate;                                                        \
  using Base::computeJacobians;                                                \
  using Base::computeVectorHessianProducts
 
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
extern template struct UnaryFunctionTpl<context::Scalar>;
#endif
} // namespace aligator