SwitchedLinearConstraintContainer.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 <ct/core/core.h>
#include "LinearConstraintContainer.h"

namespace ct {
namespace optcon {


template <size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
class SwitchedLinearConstraintContainer : public LinearConstraintContainer<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 SwitchedLinearConstraintContainer<STATE_DIM, CONTROL_DIM, SCALAR>*
        SwitchedLinearConstraintContainer_Raw_Ptr_t;
    typedef std::shared_ptr<LinearConstraintContainer<STATE_DIM, CONTROL_DIM, SCALAR>> LinearConstraintContainer_Ptr_t;
    typedef core::Switched<LinearConstraintContainer_Ptr_t> SwitchedLinearConstraintContainers;
    typedef Eigen::Matrix<SCALAR, Eigen::Dynamic, 1> VectorXs;
    typedef Eigen::Matrix<SCALAR, Eigen::Dynamic, Eigen::Dynamic> MatrixXs;

    typedef core::PhaseSequence<std::size_t, SCALAR> ModeSequence_t;

    SwitchedLinearConstraintContainer(const SwitchedLinearConstraintContainers& switchedLinearConstraintContainers,
        const ModeSequence_t& continuousModeSequence);


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

    virtual SwitchedLinearConstraintContainer_Raw_Ptr_t clone() const override;

    virtual VectorXs evaluateIntermediate() override;

    virtual VectorXs evaluateTerminal() override;

    virtual size_t getIntermediateConstraintsCount() override;

    virtual size_t getTerminalConstraintsCount() override;

    virtual VectorXs jacobianStateSparseIntermediate() override;

    virtual MatrixXs jacobianStateIntermediate() override;

    virtual VectorXs jacobianStateSparseTerminal() override;

    virtual MatrixXs jacobianStateTerminal() override;

    virtual VectorXs jacobianInputSparseIntermediate() override;

    virtual MatrixXs jacobianInputIntermediate() override;

    virtual VectorXs jacobianInputSparseTerminal() override;

    virtual MatrixXs jacobianInputTerminal() override;

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

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

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

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

    virtual size_t getJacobianStateNonZeroCountIntermediate() override;

    virtual size_t getJacobianStateNonZeroCountTerminal() override;

    virtual size_t getJacobianInputNonZeroCountIntermediate() override;

    virtual size_t getJacobianInputNonZeroCountTerminal() override;

    virtual bool initializeIntermediate() override;

    virtual bool initializeTerminal() override;

private:
    virtual void update() override;

    SwitchedLinearConstraintContainers switchedLinearConstraintContainers_;
    ModeSequence_t continuousModeSequence_;
    LinearConstraintContainer_Ptr_t activeLinearConstraintContainer_;
    LinearConstraintContainer_Ptr_t terminalLinearConstraintContainer_;
};

}  // namespace optcon
}  // namespace ct