GuardBase.hpp

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/*
 * GuardBase.hpp
 *
 *  Created on: Sep 5, 2016
 *      Author: depardo
 */

#ifndef _GuardBase_HPP_
#define _GuardBase_HPP_

#include <Eigen/Dense>
#include <memory>
#include <optimization/constraints/GenericConstraintsBase.hpp>

namespace DirectTrajectoryOptimization{
namespace BaseClass{

template <class DIMENSIONS>
class GuardBase : public NumDiffDerivativesBase,
                    public std::enable_shared_from_this<GuardBase<DIMENSIONS> > {

public:

    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    typedef typename DIMENSIONS::state_vector_t state_vector_t;
    typedef typename DIMENSIONS::control_vector_t control_vector_t;
    static const int s_size = static_cast<int>(DIMENSIONS::DimensionsSize::STATE_SIZE);

    GuardBase(const bool & no_guard) {
      SetSize(1);
      SetBounds(Eigen::VectorXd::Constant(1,-1e20),Eigen::VectorXd::Constant(1,1e20));
    }
    GuardBase(){}

    virtual ~GuardBase(){ };

  int GetSize() {return complete_vector_size;}
  Eigen::VectorXd GetLowerBound() {return guard_lb; }
  Eigen::VectorXd GetUpperBound() {return guard_ub; }
    void SetSize(const int & sog);
    void SetBounds(const Eigen::VectorXd & lb, const Eigen::VectorXd & ub);
    void initialize();
    void initialize_num_diff();
    void fx(const Eigen::VectorXd & in, Eigen::VectorXd & out);

    virtual Eigen::VectorXd evalConstraintsFct(const state_vector_t& x1);
    Eigen::VectorXd evalConstraintsFctDerivatives(const state_vector_t & x1);

  std::shared_ptr<GuardBase<DIMENSIONS> > my_pointer;

  int complete_vector_size = 0;
  int size_of_jacobian = 0;
  int total_inputs_jacobian=0;

private:

  Eigen::VectorXd guard_lb;
  Eigen::VectorXd guard_ub;

    bool sog_ready_ = false;
    bool bounds_ready_ = false;

};

template <class DIMENSIONS>
void GuardBase<DIMENSIONS>::SetSize(const int & sog) {
  if(sog < 1) {
      std::cout << "Guard size must be greater than 0" << std::endl;
      std::exit(EXIT_FAILURE);
  }
  complete_vector_size = sog;
  sog_ready_ = true;
}

template <class DIMENSIONS>
void GuardBase<DIMENSIONS>::SetBounds(const Eigen::VectorXd & lb, const Eigen::VectorXd & ub) {
  if(!(lb.size() == complete_vector_size) || !(ub.size() == complete_vector_size)) {
      std::cout << "Guard bounds size must be equal to SoG" << std::endl;
      std::exit(EXIT_FAILURE);
  }
  guard_lb = lb;
  guard_ub = ub;
  bounds_ready_ = true;
}

template <class DIMENSIONS>
void GuardBase<DIMENSIONS>::initialize() {

  if(!sog_ready_ || !bounds_ready_) {
      std::cout << "guard is not ready!" << std::endl;
      std::exit(EXIT_FAILURE);
  }

    // This cannot change
    total_inputs_jacobian = s_size;

    // This cannot change
    size_of_jacobian = complete_vector_size*total_inputs_jacobian;

    initialize_num_diff();
}

template <class DIMENSIONS>
Eigen::VectorXd GuardBase<DIMENSIONS>::evalConstraintsFct(const state_vector_t& x1) {

    // always possible!
    return (Eigen::VectorXd::Constant(1,0.0));
}

template <class DIMENSIONS>
Eigen::VectorXd GuardBase<DIMENSIONS>::evalConstraintsFctDerivatives(const state_vector_t & x1) {

    this->numDiff->df(x1,this->mJacobian);

    // The Jacobian of the guards is defined as row_major: repeating the constraints!
    //returning ROW-wise the constraint as a vector
  Eigen::Matrix<double,Eigen::Dynamic,Eigen::Dynamic,Eigen::RowMajor> temp(this->mJacobian);
    return (Eigen::Map<Eigen::VectorXd>(temp.data(),size_of_jacobian));
}

template <class DIMENSIONS>
void GuardBase<DIMENSIONS>::fx(const Eigen::VectorXd & inputs, Eigen::VectorXd & outputs) {
    outputs = evalConstraintsFct(inputs);
}

template <class DIMENSIONS>
void GuardBase<DIMENSIONS>::initialize_num_diff() {

    this->my_pointer = std::enable_shared_from_this<GuardBase<DIMENSIONS>>::shared_from_this();
    this->mJacobian.resize(complete_vector_size,total_inputs_jacobian);
    this->numdifoperator = std::shared_ptr<FunctionOperator>(new FunctionOperator(total_inputs_jacobian, complete_vector_size , this->my_pointer));
    this->numDiff = std::shared_ptr<Eigen::NumericalDiff<FunctionOperator> >( new Eigen::NumericalDiff<FunctionOperator>(*this->numdifoperator,std::numeric_limits<double>::epsilon()));
}

template <class DIMENSIONS>
const int GuardBase<DIMENSIONS>::s_size;

} // BaseClass
} // DirectTrajectoryOptimization
#endif /* _GuardBase_HPP_ */