direct_transcription.hpp

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#ifndef DIRECTRANSCRIPTION_HPP_
#define DIRECTRANSCRIPTION_HPP_

#include <stdexcept>
#include <vector>
#include <iostream>
#include <fstream>

#include <memory>
#include <Eigen/Dense>

#include <dynamical_systems/base/DynamicsBase.hpp>
#include <dynamical_systems/base/DerivativesBaseDS.hpp>
#include <optimization/costs/CostFunctionBase.hpp>
#include <optimization/constraints/ConstraintsBase.hpp>
#include <method_interfaces/base_method_interface.hpp>

namespace DirectTrajectoryOptimization {

template<class DIMENSIONS>
class DTODirectTranscription: public DTOMethodInterface<DIMENSIONS> {

public:
    //Required as class has Eigen Members
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    typedef typename DIMENSIONS::state_vector_t state_vector_t;
    typedef typename DIMENSIONS::control_vector_t control_vector_t;
    typedef typename DIMENSIONS::state_vector_array_t state_vector_array_t;
    typedef typename DIMENSIONS::control_vector_array_t control_vector_array_t;
    typedef typename DIMENSIONS::control_gain_matrix_t control_gain_matrix_t;
    typedef typename DIMENSIONS::state_matrix_t state_matrix_t;

    DTODirectTranscription(
            std::vector<std::shared_ptr<DynamicsBase<DIMENSIONS> > > dynamics,
            std::vector<std::shared_ptr<DerivativesBaseDS<DIMENSIONS> > > derivatives,
            std::shared_ptr<BaseClass::CostFunctionBase<DIMENSIONS> > costFunction,
            std::vector<std::shared_ptr<BaseClass::ConstraintsBase<DIMENSIONS> > > constraints,
            Eigen::Vector2d duration, int number_of_nodes, bool methodVerbose) :
            DTOMethodInterface<DIMENSIONS>(dynamics, derivatives, costFunction,
                    constraints, duration, number_of_nodes, methodVerbose) {

        if (methodVerbose) {
            std::cout << "DTO Object successfully created" << std::endl;
        }
    }

    virtual ~DTODirectTranscription() {}

//protected: ToDo solve once test friends implemented

    virtual void evalSparseJacobianConstraint(double* val) override;
    virtual void evaluateDefects(Eigen::VectorXd & defect_vector) override;

    virtual void SetDircolMethod(const int &dcm) override;

    int dircol_method = 0;
    state_matrix_t I_y = state_matrix_t::Identity();
};

} // namespace DirectTrajectoryOptimization

#include <method_interfaces/direct_transcription/direct_transcription_implementation.hpp>

#endif /* DIRECTRANSCRIPTION_HPP_ */