callbacks.hpp

// BSD 3-Clause License
//
// Copyright (C) 2019-2025, LAAS-CNRS, University of Oxford,
// Heriot-Watt University
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.

#ifndef CROCODDYL_CORE_UTILS_CALLBACKS_HPP_
#define CROCODDYL_CORE_UTILS_CALLBACKS_HPP_

#include "crocoddyl/core/solver-base.hpp"

namespace crocoddyl {

enum VerboseLevel {
 _0 = 0, //<! Zero print level that doesn't contain merit-function and
 // constraints information
 _1, //<! First print level that includes level-0, merit-function and
 // dynamics-constraints information
 _2, //<! Second print level that includes level-1 and dual-variable
 // regularization
 _3, //<! Third print level that includes level-2, and equality and inequality
 // constraints information
 _4, //<! Fourht print level that includes expected and current improvements
 // in the merit function
};

template <typename _Scalar>
class CallbackVerboseTpl : public CallbackAbstractTpl<_Scalar> {
 public:
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 CROCODDYL_DERIVED_FLOATINGPOINT_CAST(CallbackBase, CallbackVerboseTpl)

 typedef _Scalar Scalar;
 typedef CallbackAbstractTpl<Scalar> CallbackAbstract;
 typedef SolverAbstractTpl<Scalar> SolverAbstract;

 explicit CallbackVerboseTpl(VerboseLevel level = _4, int precision = 3);
 ~CallbackVerboseTpl() = default;

 void operator()(SolverAbstract& solver) override;

 VerboseLevel get_level() const;
 void set_level(VerboseLevel level);

 int get_precision() const;
 void set_precision(int precision);

 template <typename NewScalar>
 CallbackVerboseTpl<NewScalar> cast() const;

 private:
 VerboseLevel level_;
 int precision_;
 std::string header_;
 std::string separator_;
 std::string separator_short_;

 void update_header();
};

} // namespace crocoddyl

/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/core/utils/callbacks.hxx"

#endif // CROCODDYL_CORE_UTILS_CALLBACKS_HPP_