[gar] lqr-problem : move impl of addParameterization() to hxx file

Simple-Robotics · Oct 16, 2024 · 715ed1d · 715ed1d
1 parent 35ab0e8
commit 715ed1d
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Showing 2 changed files with 11 additions and 8 deletions.
diff --git a/gar/include/aligator/gar/lqr-problem.hpp b/gar/include/aligator/gar/lqr-problem.hpp
@@ -47,14 +47,7 @@ template <typename Scalar> struct LQRKnotTpl {
   LQRKnotTpl(uint nx, uint nu, uint nc) : LQRKnotTpl(nx, nu, nc, nx) {}
 
   // reallocates entire buffer for contigousness
-  inline void addParameterization(uint nth) {
-    this->nth = nth;
-    Gth.setZero(nth, nth);
-    Gx.setZero(nx, nth);
-    Gu.setZero(nu, nth);
-    Gv.setZero(nc, nth);
-    gamma.setZero(nth);
-  }
+  void addParameterization(uint nth);
 };
 
 template <typename Scalar> struct LQRProblemTpl {

diff --git a/gar/include/aligator/gar/lqr-problem.hxx b/gar/include/aligator/gar/lqr-problem.hxx
@@ -33,6 +33,16 @@ LQRKnotTpl<Scalar>::LQRKnotTpl(uint nx, uint nu, uint nc, uint nx2, uint nth)
   gamma.setZero();
 }
 
+template <typename Scalar>
+void LQRKnotTpl<Scalar>::addParameterization(uint nth) {
+  this->nth = nth;
+  Gth.setZero(nth, nth);
+  Gx.setZero(nx, nth);
+  Gu.setZero(nu, nth);
+  Gv.setZero(nc, nth);
+  gamma.setZero(nth);
+}
+
 template <typename Scalar>
 Scalar LQRProblemTpl<Scalar>::evaluate(
     const VectorOfVectors &xs, const VectorOfVectors &us,