ConstraintContainerBase.h

Go to the documentation of this file.

/**********************************************************************************************************************
This file is part of the Control Toolbox (https://github.com/ethz-adrl/control-toolbox), copyright by ETH Zurich.
Licensed under the BSD-2 license (see LICENSE file in main directory)
**********************************************************************************************************************/

#pragma once

namespace ct {
namespace optcon {

template <size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
class ConstraintContainerBase
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    typedef core::StateVector<STATE_DIM, SCALAR> state_vector_t;
    typedef core::ControlVector<CONTROL_DIM, SCALAR> input_vector_t;

    typedef ConstraintContainerBase<STATE_DIM, CONTROL_DIM, SCALAR>* ConstraintBase_Raw_Ptr_t;
    typedef Eigen::Matrix<SCALAR, Eigen::Dynamic, 1> VectorXs;

    ConstraintContainerBase();

    ConstraintContainerBase(const ConstraintContainerBase& arg);

    virtual ~ConstraintContainerBase();

    virtual ConstraintBase_Raw_Ptr_t clone() const = 0;

    virtual void setCurrentStateAndControl(const state_vector_t& x,
        const input_vector_t& u,
        const SCALAR t = SCALAR(0.0));

    virtual VectorXs evaluateIntermediate() = 0;

    virtual VectorXs evaluateTerminal() = 0;

    virtual size_t getIntermediateConstraintsCount() = 0;

    virtual size_t getTerminalConstraintsCount() = 0;

    size_t getConstraintsCount();
    VectorXs getLowerBoundsIntermediate() const;

    VectorXs getLowerBoundsTerminal() const;

    VectorXs getUpperBoundsIntermediate() const;

    VectorXs getUpperBoundsTerminal() const;

    VectorXs getUpperBoundsViolationIntermediate();

    VectorXs getLowerBoundsViolationIntermediate();

    VectorXs getUpperBoundsViolationTerminal();

    VectorXs getLowerBoundsViolationTerminal();

    VectorXs getTotalBoundsViolationIntermediate();

    VectorXs getTotalBoundsViolationTerminal();

protected:
    virtual void update() = 0;

    state_vector_t x_; 
    input_vector_t u_; 
    SCALAR t_;         
    VectorXs lowerBoundsIntermediate_;
    VectorXs lowerBoundsTerminal_;
    VectorXs upperBoundsIntermediate_;
    VectorXs upperBoundsTerminal_;
};


}  // namespace optcon
}  // namespace ct