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[modelling] Change CostStack backend to an unordered_map type #199

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merged 12 commits into from
Sep 18, 2024
Merged

[modelling] Change CostStack backend to an unordered_map type #199

merged 12 commits into from
Sep 18, 2024

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ManifoldFR
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  • Also adds a template getter for the component cost functions
  • addCost() now has an overload taking a key (either a std::size_t or a string)
  • addCost() returns a reference to the pair of cost function component and weight

Resolves #195

@ManifoldFR ManifoldFR requested a review from edantec September 17, 2024 14:45
@ManifoldFR ManifoldFR force-pushed the topic/cost-stack-map-and-cast branch from 9f470d4 to 83fb755 Compare September 17, 2024 14:46
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ManifoldFR commented Sep 17, 2024 •
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Some features in this PR (exposing the underlying map type directly to Python) will require the next version of eigenpy, following stack-of-tasks/eigenpy#504 which generalizes @edantec's work added in eigenpy 3.9.0

Maybe we could do some conditional compilation

@ManifoldFR ManifoldFR linked an issue Sep 17, 2024 that may be closed by this pull request
Integrate dynamic cast in aligator #194
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@ManifoldFR ManifoldFR mentioned this pull request Sep 17, 2024
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@ManifoldFR ManifoldFR force-pushed the topic/cost-stack-map-and-cast branch from 9b415a3 to 13452e5 Compare September 17, 2024 17:11
edantec
edantec previously approved these changes Sep 18, 2024
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Apart from a small question, everything seems fine to me

include/aligator/modelling/costs/sum-of-costs.hxx Outdated Show resolved Hide resolved
@ManifoldFR ManifoldFR force-pushed the topic/cost-stack-map-and-cast branch 3 times, most recently from a46d009 to 4c59e90 Compare September 18, 2024 15:48
@ManifoldFR ManifoldFR linked an issue Sep 18, 2024 that may be closed by this pull request
Replace vector of CostPtr in CostStack objects by a map of CostPtr #195
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@ManifoldFR ManifoldFR force-pushed the topic/cost-stack-map-and-cast branch from 4c59e90 to f504102 Compare September 18, 2024 16:15
@ManifoldFR ManifoldFR force-pushed the topic/cost-stack-map-and-cast branch from f504102 to 33ac216 Compare September 18, 2024 16:33
@ManifoldFR ManifoldFR force-pushed the topic/cost-stack-map-and-cast branch from 33ac216 to 2388c20 Compare September 18, 2024 16:46
@ManifoldFR ManifoldFR disabled auto-merge September 18, 2024 17:30
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I'll force merge cos I'm the boss here

@ManifoldFR ManifoldFR merged commit 18427a5 into devel Sep 18, 2024
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@ManifoldFR ManifoldFR deleted the topic/cost-stack-map-and-cast branch September 18, 2024 17:30
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Replace vector of CostPtr in CostStack objects by a map of CostPtr Integrate dynamic cast in aligator
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