ConstraintsBase.hpp

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#ifndef _CONSTRAINTSBASE_H
#define _CONSTRAINTSBASE_H

#include <Eigen/Dense>

namespace DirectTrajectoryOptimization {
namespace BaseClass{

template <class DIMENSIONS>
class ConstraintsBase {

public:

    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    typedef typename DIMENSIONS::state_vector_t state_vector_t;
    typedef typename DIMENSIONS::control_vector_t control_vector_t;
    
    ConstraintsBase(){};
    virtual ~ConstraintsBase() {};
    
    virtual Eigen::VectorXd evalConstraintsFct(const state_vector_t& x, const control_vector_t& u) {
      return (Eigen::VectorXd::Zero(g_size));
    }
    virtual Eigen::VectorXd evalConstraintsFctDerivatives(const state_vector_t& x, const control_vector_t& u) {
      return (Eigen::VectorXd::Zero(nnz_jac_));
    }

    Eigen::VectorXd getConstraintsLowerBound() {return g_low;}
    Eigen::VectorXd getConstraintsUpperBound() {return g_up;}

    void setSize(const int & size) {g_size  = size;}
    void setConstraintsLowerBound(const Eigen::VectorXd & g_lb_candidate);
    void setConstraintsUpperBound(const Eigen::VectorXd & g_ub_candidate);

    int getNumConstraints() {return g_size;}
    
    int getNnzJac() {return nnz_jac_;}

    Eigen::VectorXi getSparseRow() {return iRow_;}
    Eigen::VectorXi getSparseCol() {return jCol_;}

private:
    int g_size = 0;   /* constraint size */
    Eigen::VectorXd g_low;
    Eigen::VectorXd g_up;

protected:
    int nnz_jac_ = 0; /* jacobian size */
    Eigen::VectorXi iRow_ , jCol_; /* sparsity indexes */
};

template <class DIMENSIONS>
void ConstraintsBase<DIMENSIONS>::setConstraintsLowerBound(const Eigen::VectorXd & g_lb_candidate) {

  int candidate_size = g_lb_candidate.size();

  if (candidate_size != g_size) {
    std::cout << "ERROR : Lower bound vector size " << std::endl;
    std::exit(EXIT_FAILURE);
  } else {
    g_low = g_lb_candidate;
  }
}

template <class DIMENSIONS>
void ConstraintsBase<DIMENSIONS>::setConstraintsUpperBound(const Eigen::VectorXd & g_ub_candidate) {

  int candidate_size = g_ub_candidate.size();

  if (candidate_size != g_size) {
    std::cout << "ERROR : Lower bound vector size " << std::endl;
    std::exit(EXIT_FAILURE);
  } else {
    g_up = g_ub_candidate;
  }
}
}
}
#endif /* _CONSTRAINTSBASE_H */