NLOCBackendST.hpp

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/**********************************************************************************************************************
This file is part of the Control Toolbox (https://github.com/ethz-adrl/control-toolbox), copyright by ETH Zurich.
Licensed under the BSD-2 license (see LICENSE file in main directory)
**********************************************************************************************************************/


#pragma once

#include "NLOCBackendBase.hpp"
#include <ct/optcon/solver/NLOptConSettings.hpp>

namespace ct {
namespace optcon {


template <size_t STATE_DIM,
    size_t CONTROL_DIM,
    size_t P_DIM,
    size_t V_DIM,
    typename SCALAR = double,
    bool CONTINUOUS = true>
class NLOCBackendST final : public NLOCBackendBase<STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS>
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    typedef NLOCBackendBase<STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS> Base;
    typedef typename Base::OptConProblem_t OptConProblem_t;

    NLOCBackendST(const OptConProblem_t& optConProblem, const NLOptConSettings& settings);

    NLOCBackendST(const OptConProblem_t& optConProblem,
        const std::string& settingsFile,
        bool verbose = true,
        const std::string& ns = "alg");

    virtual ~NLOCBackendST();

protected:
    virtual void computeLQApproximation(size_t firstIndex, size_t lastIndex) override;

    virtual void rolloutShots(size_t firstIndex, size_t lastIndex) override;

    SCALAR performLineSearch() override;
};


}  // namespace optcon
}  // namespace ct