fixup

tesseract-robotics · Jun 30, 2023 · d0739b9 · d0739b9
1 parent 08f1bfe
commit d0739b9
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Showing 2 changed files with 17 additions and 8 deletions.
diff --git a/trajopt_sco/include/trajopt_sco/solver_interface.hpp b/trajopt_sco/include/trajopt_sco/solver_interface.hpp
@@ -193,10 +193,10 @@ struct AffExpr
   AffExpr(AffExpr&&) = default;
   AffExpr& operator=(AffExpr&&) = default;
 
-  explicit AffExpr(double a) : constant(a) {}
-  explicit AffExpr(const Var& v) : coeffs(1, 1), vars(1, v) {}
+  explicit AffExpr(double a);
+  explicit AffExpr(const Var& v);
 
-  size_t size() const { return coeffs.size(); }
+  size_t size() const;
   double value(const double* x) const;
   double value(const DblVec& x) const;
 };
@@ -210,10 +210,10 @@ struct QuadExpr
   VarVector vars1;
   VarVector vars2;
   QuadExpr() = default;
-  explicit QuadExpr(double a) : affexpr(a) {}
-  explicit QuadExpr(const Var& v) : affexpr(v) {}
-  explicit QuadExpr(AffExpr aff) : affexpr(std::move(aff)) {}
-  size_t size() const { return coeffs.size(); }
+  explicit QuadExpr(double a);
+  explicit QuadExpr(const Var& v);
+  explicit QuadExpr(AffExpr aff);
+  size_t size() const;
   double value(const double* x) const;
   double value(const DblVec& x) const;
 };

diff --git a/trajopt_sco/src/solver_interface.cpp b/trajopt_sco/src/solver_interface.cpp
@@ -8,7 +8,6 @@ TRAJOPT_IGNORE_WARNINGS_PUSH
 TRAJOPT_IGNORE_WARNINGS_POP
 
 #include <trajopt_sco/solver_interface.hpp>
-#include <trajopt_utils/macros.h>
 
 namespace sco
 {
@@ -62,6 +61,10 @@ void simplify2(IntVec& inds, DblVec& vals)
   }
 }
 
+AffExpr::AffExpr(double a) : constant(a) {}
+AffExpr::AffExpr(const Var& v) : coeffs(1, 1), vars(1, v) {}
+size_t AffExpr::size() const { return coeffs.size(); }
+
 double AffExpr::value(const double* x) const
 {
   double out = constant;
@@ -80,6 +83,12 @@ double AffExpr::value(const DblVec& x) const
   }
   return out;
 }
+
+QuadExpr::QuadExpr(double a) : affexpr(a) {}
+QuadExpr::QuadExpr(const Var& v) : affexpr(v) {}
+QuadExpr::QuadExpr(AffExpr aff) : affexpr(std::move(aff)) {}
+size_t QuadExpr::size() const { return coeffs.size(); }
+
 double QuadExpr::value(const DblVec& x) const
 {
   double out = affexpr.value(x);