TerminalConstraint.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

namespace ct {
namespace optcon {

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

    typedef typename ct::core::tpl::TraitSelector<SCALAR>::Trait Trait;
    typedef ConstraintBase<STATE_DIM, CONTROL_DIM, SCALAR> Base;
    typedef core::StateVector<STATE_DIM, SCALAR> state_vector_t;
    typedef core::ControlVector<CONTROL_DIM, SCALAR> control_vector_t;

    typedef Eigen::Matrix<int, Eigen::Dynamic, 1> VectorXi;
    typedef Eigen::Matrix<SCALAR, Eigen::Dynamic, 1> VectorXs;
    typedef Eigen::Matrix<SCALAR, Eigen::Dynamic, Eigen::Dynamic> MatrixXs;

    TerminalConstraint(const core::StateVector<STATE_DIM, SCALAR> xf);

    virtual TerminalConstraint<STATE_DIM, CONTROL_DIM, SCALAR>* clone() const override;

    TerminalConstraint(const TerminalConstraint& arg);

    virtual ~TerminalConstraint();

    virtual size_t getConstraintSize() const override;

    virtual VectorXs evaluate(const state_vector_t& x, const control_vector_t& u, const SCALAR t) override;

#ifdef CPPADCG
    virtual Eigen::Matrix<ct::core::ADCGScalar, Eigen::Dynamic, 1> evaluateCppadCg(
        const core::StateVector<STATE_DIM, ct::core::ADCGScalar>& x,
        const core::ControlVector<CONTROL_DIM, ct::core::ADCGScalar>& u,
        ct::core::ADCGScalar t) override;
#endif

    virtual MatrixXs jacobianState(const state_vector_t& x, const control_vector_t& u, const SCALAR t) override;

    virtual MatrixXs jacobianInput(const state_vector_t& x, const control_vector_t& u, const SCALAR t) override;

    virtual size_t getNumNonZerosJacobianState() const override;

    virtual size_t getNumNonZerosJacobianInput() const override;

    virtual VectorXs jacobianStateSparse(const state_vector_t& x, const control_vector_t& u, const SCALAR t) override;

    virtual void sparsityPatternState(VectorXi& rows, VectorXi& cols) override;

private:
    core::StateVector<STATE_DIM, SCALAR> xF_;
};
}
}