utils.cpp

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#include "aligator/gar/utils.hxx"
 
namespace aligator {
namespace gar {
template void lqrCreateSparseMatrix<context::Scalar>(
    const LQRProblemTpl<context::Scalar> &problem, const context::Scalar mudyn,
    const context::Scalar mueq, Eigen::SparseMatrix<context::Scalar> &mat,
    context::VectorXs &rhs, bool update);
template std::array<context::Scalar, 3> lqrComputeKktError<context::Scalar>(
    const LQRProblemTpl<context::Scalar> &,
    boost::span<const context::VectorXs>, boost::span<const context::VectorXs>,
    boost::span<const context::VectorXs>, boost::span<const context::VectorXs>,
    const context::Scalar, const context::Scalar,
    const std::optional<context::ConstVectorRef> &, bool);
template auto
lqrDenseMatrix<context::Scalar>(const LQRProblemTpl<context::Scalar> &,
                                context::Scalar, context::Scalar);
} // namespace gar
} // namespace aligator