GenericConstraintsBase.hpp

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#ifndef _GENERICCONSTRAINTSBASE_H
#define _GENERICCONSTRAINTSBASE_H

#include <Eigen/Dense>
#include <memory>
#include <optimization/NumDiffDerivativesBase.hpp>

namespace DirectTrajectoryOptimization {
namespace BaseClass{

class GenericConstraintsBase : public NumDiffDerivativesBase , public std::enable_shared_from_this<GenericConstraintsBase> {

public:

    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    GenericConstraintsBase(int num_eq , int num_var):g_size_(num_eq),input_size_(num_var){};
    

    virtual Eigen::VectorXd Evalfx(const Eigen::VectorXd & input) = 0;

    virtual void fx(const Eigen::VectorXd & in , Eigen::VectorXd & out) override;

    virtual Eigen::MatrixXd EvalFxJacobian(const Eigen::VectorXd & input);

    Eigen::VectorXd GetConstraintsLowerBound() {return g_low_;}

    Eigen::VectorXd GetConstraintsUpperBound() {return g_up_;}

    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_;}
    
    void initialize_num_diff();

    virtual ~GenericConstraintsBase() {};


protected:

    std::shared_ptr<GenericConstraintsBase> self_pointer;

    int input_size_  = 0;
    int g_size_ = 0;

    int nnz_jac_=0;

    Eigen::VectorXd g_low_;
    Eigen::VectorXd g_up_;

    Eigen::VectorXi iRow_;
    Eigen::VectorXi jCol_;

};

void GenericConstraintsBase::fx(const Eigen::VectorXd & input, Eigen::VectorXd & output){

    output = this->Evalfx(input);

}

Eigen::MatrixXd GenericConstraintsBase::EvalFxJacobian(const Eigen::VectorXd & input){

    // NumDiff Base Jacobian of the constraint. User can override this method in the
    // derived constraint. But this class provides a default Jacobian

    mJacobian.setZero();
    this->numDiff->df(input,this->mJacobian);

    return(mJacobian);

}

void GenericConstraintsBase::SetConstraintsLowerBound(const Eigen::VectorXd & g_lb_candidate){
    this->g_low_ = g_lb_candidate;
}

void GenericConstraintsBase::setConstraintsUpperBound(const Eigen::VectorXd & g_ub_candidate){
    this->g_up_ = g_ub_candidate;
}

void GenericConstraintsBase::initialize_num_diff(){

    mJacobian.resize(g_size_,input_size_);

    this->self_pointer = std::enable_shared_from_this<GenericConstraintsBase>::shared_from_this();

    this->numdifoperator = std::shared_ptr<FunctionOperator>(new FunctionOperator(input_size_, g_size_ , this->self_pointer));

    this->numDiff = std::shared_ptr<Eigen::NumericalDiff<FunctionOperator> >( new Eigen::NumericalDiff<FunctionOperator>(*this->numdifoperator , std::numeric_limits<double>::epsilon()));

}
}
}
#endif /* _GENERICCONSTRAINTSBASE_H */