PyOcpBase.hpp

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#include <memory>
#include <Eigen/Eigen>

#include <solver_lqr/OcpDescription.hpp>

namespace solverlqr {

  class PyOcpBase : public OcpBase
  {
    public:
      using OcpBase::OcpBase;

      // trampoline for pure virtual functions
      void configure(const YAML::Node& user_parameters) override
      {
        PYBIND11_OVERLOAD_PURE(
          void,
          OcpBase,
          configure,
          user_parameters
        );
      }

      StateBase dynamics(const StateBase& state, const ControlBase& control, int time_id) override
      {
        PYBIND11_OVERLOAD_PURE(
          StateBase,
          OcpBase,
          dynamics,
          state,
          control,
          time_id
        );
      }

      double objective(const StateBase& state, const ControlBase& control, int time_id, bool is_final_timestep) override
      {
        PYBIND11_OVERLOAD_PURE(
          double,
          OcpBase,
          objective,
          state,
          control,
          time_id,
          is_final_timestep
        );
      }
  };

}