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

} // namespace aligator

#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
#include "./unary-function.txx"
#endif