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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2020-2025, University of Edinburgh, Heriot-Watt University |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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namespace crocoddyl { |
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template <typename Scalar> |
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ConstraintModelAbstractTpl<Scalar>::ConstraintModelAbstractTpl( |
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std::shared_ptr<StateAbstract> state, |
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std::shared_ptr<ResidualModelAbstract> residual, const std::size_t ng, |
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const std::size_t nh) |
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: ng_internal_(ng), |
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nh_internal_(nh), |
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state_(state), |
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residual_(residual), |
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type_((ng > 0 && nh > 0) ? ConstraintType::Both |
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: (ng > 0 ? ConstraintType::Inequality |
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: ConstraintType::Equality)), |
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lb_(VectorXs::Constant(ng, -std::numeric_limits<Scalar>::infinity())), |
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ub_(VectorXs::Constant(ng, std::numeric_limits<Scalar>::infinity())), |
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nu_(residual->get_nu()), |
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ng_(ng), |
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nh_(nh), |
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T_constraint_(residual->get_q_dependent() || residual->get_v_dependent() |
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? true |
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: false), |
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unone_(VectorXs::Zero(residual->get_nu())) { |
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if (nh_ > residual_->get_nr()) { |
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throw_pretty("Invalid argument: " |
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<< "the number of equality constraints (nh) is wrong as it is " |
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"bigger than the residual dimension.") |
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} |
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std::size_t max_ng = 2 * (residual_->get_nr() - nh_); |
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if (ng_ > max_ng) { |
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throw_pretty("Invalid argument: " |
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<< "the number of inequality constraints (ng) is wrong as it " |
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"should be in the range [0, " + |
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std::to_string(max_ng) + "]"); |
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} |
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} |
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template <typename Scalar> |
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ConstraintModelAbstractTpl<Scalar>::ConstraintModelAbstractTpl( |
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std::shared_ptr<StateAbstract> state, const std::size_t nu, |
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const std::size_t ng, const std::size_t nh, const bool T_const) |
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: ng_internal_(ng), |
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nh_internal_(nh), |
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state_(state), |
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residual_(std::make_shared<ResidualModelAbstractTpl<Scalar>>( |
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state, ng + nh, nu)), |
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type_((ng > 0 && nh > 0) ? ConstraintType::Both |
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: (ng > 0 ? ConstraintType::Inequality |
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: ConstraintType::Equality)), |
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lb_(VectorXs::Constant(ng, -std::numeric_limits<Scalar>::infinity())), |
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ub_(VectorXs::Constant(ng, std::numeric_limits<Scalar>::infinity())), |
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nu_(nu), |
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ng_(ng), |
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nh_(nh), |
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T_constraint_(T_const), |
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unone_(VectorXs::Zero(nu)) {} |
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template <typename Scalar> |
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ConstraintModelAbstractTpl<Scalar>::ConstraintModelAbstractTpl( |
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std::shared_ptr<StateAbstract> state, const std::size_t ng, |
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const std::size_t nh, const bool T_const) |
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: ng_internal_(ng), |
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nh_internal_(nh), |
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state_(state), |
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residual_( |
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std::make_shared<ResidualModelAbstractTpl<Scalar>>(state, ng + nh)), |
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type_((ng > 0 && nh > 0) ? ConstraintType::Both |
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: (ng > 0 ? ConstraintType::Inequality |
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: ConstraintType::Equality)), |
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lb_(VectorXs::Constant(ng, -std::numeric_limits<Scalar>::infinity())), |
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ub_(VectorXs::Constant(ng, std::numeric_limits<Scalar>::infinity())), |
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nu_(state->get_nv()), |
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ng_(ng), |
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nh_(nh), |
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T_constraint_(T_const), |
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unone_(VectorXs::Zero(state->get_nv())) {} |
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template <typename Scalar> |
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void ConstraintModelAbstractTpl<Scalar>::calc( |
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const std::shared_ptr<ConstraintDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x) { |
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calc(data, x, unone_); |
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} |
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template <typename Scalar> |
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void ConstraintModelAbstractTpl<Scalar>::calcDiff( |
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const std::shared_ptr<ConstraintDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x) { |
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calcDiff(data, x, unone_); |
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} |
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template <typename Scalar> |
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std::shared_ptr<ConstraintDataAbstractTpl<Scalar>> |
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ConstraintModelAbstractTpl<Scalar>::createData( |
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DataCollectorAbstract* const data) { |
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return std::allocate_shared<ConstraintDataAbstract>( |
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Eigen::aligned_allocator<ConstraintDataAbstract>(), this, data); |
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} |
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template <typename Scalar> |
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void ConstraintModelAbstractTpl<Scalar>::update_bounds(const VectorXs& lower, |
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const VectorXs& upper) { |
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if (static_cast<std::size_t>(upper.size()) != ng_internal_ || |
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static_cast<std::size_t>(lower.size()) != ng_internal_) { |
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throw_pretty( |
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"Invalid argument: the dimension of the lower/upper bound is not the " |
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"same to ng.") |
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} |
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if (((upper - lower).array() <= Scalar(0.)).any()) { |
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throw_pretty( |
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"Invalid argument: the upper bound is not higher than the lower bound.") |
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} |
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if ((lb_.array() == std::numeric_limits<Scalar>::infinity()).any() || |
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(lb_.array() == std::numeric_limits<Scalar>::max()).any()) { |
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throw_pretty( |
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"Invalid argument: the lower bound cannot contain a positive " |
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"infinity/max value"); |
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} |
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if ((ub_.array() == -std::numeric_limits<Scalar>::infinity()).any() || |
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(ub_.array() == -std::numeric_limits<Scalar>::infinity()).any()) { |
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throw_pretty( |
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"Invalid argument: the lower bound cannot contain a negative " |
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"infinity/min value"); |
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} |
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ng_ = ng_internal_; |
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nh_ = nh_internal_; |
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lb_ = lower; |
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ub_ = upper; |
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if (nh_ == 0) { |
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type_ = ConstraintType::Inequality; |
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} else { |
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type_ = ConstraintType::Both; |
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} |
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} |
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template <typename Scalar> |
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void ConstraintModelAbstractTpl<Scalar>::remove_bounds() { |
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ng_ = 0; |
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nh_ = nh_internal_ + ng_internal_; |
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lb_.setConstant(-std::numeric_limits<Scalar>::infinity()); |
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ub_.setConstant(std::numeric_limits<Scalar>::infinity()); |
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type_ = ConstraintType::Equality; |
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} |
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template <typename Scalar> |
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void ConstraintModelAbstractTpl<Scalar>::print(std::ostream& os) const { |
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os << boost::core::demangle(typeid(*this).name()); |
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} |
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template <typename Scalar> |
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const std::shared_ptr<StateAbstractTpl<Scalar>>& |
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ConstraintModelAbstractTpl<Scalar>::get_state() const { |
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return state_; |
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} |
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template <typename Scalar> |
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const std::shared_ptr<ResidualModelAbstractTpl<Scalar>>& |
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ConstraintModelAbstractTpl<Scalar>::get_residual() const { |
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return residual_; |
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} |
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template <typename Scalar> |
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ConstraintType ConstraintModelAbstractTpl<Scalar>::get_type() const { |
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return type_; |
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} |
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template <typename Scalar> |
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const typename MathBaseTpl<Scalar>::VectorXs& |
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ConstraintModelAbstractTpl<Scalar>::get_lb() const { |
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return lb_; |
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} |
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template <typename Scalar> |
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const typename MathBaseTpl<Scalar>::VectorXs& |
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ConstraintModelAbstractTpl<Scalar>::get_ub() const { |
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return ub_; |
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} |
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template <typename Scalar> |
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std::size_t ConstraintModelAbstractTpl<Scalar>::get_nu() const { |
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return nu_; |
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} |
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template <typename Scalar> |
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std::size_t ConstraintModelAbstractTpl<Scalar>::get_ng() const { |
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return ng_; |
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} |
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template <typename Scalar> |
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std::size_t ConstraintModelAbstractTpl<Scalar>::get_nh() const { |
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return nh_; |
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} |
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template <typename Scalar> |
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bool ConstraintModelAbstractTpl<Scalar>::get_T_constraint() const { |
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return T_constraint_; |
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} |
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template <class Scalar> |
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std::ostream& operator<<(std::ostream& os, |
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const ConstraintModelAbstractTpl<Scalar>& model) { |
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model.print(os); |
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return os; |
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} |
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} // namespace crocoddyl |
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