LinearConstraintContainer.h

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/**********************************************************************************************************************
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

#include "ConstraintContainerBase.h"

namespace ct {
namespace optcon {


template <size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
class LinearConstraintContainer : public ConstraintContainerBase<STATE_DIM, CONTROL_DIM, SCALAR>
{
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 LinearConstraintContainer<STATE_DIM, CONTROL_DIM, SCALAR>* LinearConstraintContainer_Raw_Ptr_t;
    typedef Eigen::Matrix<SCALAR, Eigen::Dynamic, 1> VectorXs;
    typedef Eigen::Matrix<SCALAR, Eigen::Dynamic, Eigen::Dynamic> MatrixXs;

    LinearConstraintContainer();


    LinearConstraintContainer(const LinearConstraintContainer& arg);
    virtual ~LinearConstraintContainer();

    virtual LinearConstraintContainer_Raw_Ptr_t clone() const = 0;

    virtual VectorXs jacobianStateSparseIntermediate() = 0;

    virtual MatrixXs jacobianStateIntermediate() = 0;

    virtual VectorXs jacobianStateSparseTerminal() = 0;

    virtual MatrixXs jacobianStateTerminal() = 0;

    virtual VectorXs jacobianInputSparseIntermediate() = 0;

    virtual MatrixXs jacobianInputIntermediate() = 0;

    virtual VectorXs jacobianInputSparseTerminal() = 0;

    virtual MatrixXs jacobianInputTerminal() = 0;

    virtual void sparsityPatternStateIntermediate(Eigen::VectorXi& iRows, Eigen::VectorXi& jCols) = 0;

    virtual void sparsityPatternStateTerminal(Eigen::VectorXi& iRows, Eigen::VectorXi& jCols) = 0;

    virtual void sparsityPatternInputIntermediate(Eigen::VectorXi& iRows, Eigen::VectorXi& jCols) = 0;

    virtual void sparsityPatternInputTerminal(Eigen::VectorXi& iRows, Eigen::VectorXi& jCols) = 0;

    virtual size_t getJacobianStateNonZeroCountIntermediate() = 0;

    virtual size_t getJacobianStateNonZeroCountTerminal() = 0;

    virtual size_t getJacobianInputNonZeroCountIntermediate() = 0;

    virtual size_t getJacobianInputNonZeroCountTerminal() = 0;

    size_t getJacNonZeroCount();
    void initialize();

    virtual bool initializeIntermediate() = 0;

    virtual bool initializeTerminal() = 0;

    bool isInitialized();

    void printout();

protected:
    bool initializedIntermediate_;
    bool initializedTerminal_;
};

}  // namespace optcon
}  // namespace ct