common_solve_methods.hh

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/*
 * Copyright 2018, LAAS-CNRS
 * Author: Steve Tonneau
 */
 
#ifndef BEZIER_COM_TRAJ_LIB_COMMON_SOLVE_H
#define BEZIER_COM_TRAJ_LIB_COMMON_SOLVE_H
 
#include <Eigen/Dense>
#include <hpp/bezier-com-traj/data.hh>
#include <hpp/bezier-com-traj/local_config.hh>
#include <hpp/bezier-com-traj/solver/solver-abstract.hpp>
#include <hpp/bezier-com-traj/waypoints/waypoints_definition.hh>
 
namespace bezier_com_traj {
 
BEZIER_COM_TRAJ_DLLAPI std::vector<waypoint6_t> ComputeDiscretizedWaypoints(
    const std::vector<waypoint6_t>& wps,
    const std::vector<ndcurves::Bern<double> >& bernstein, int numSteps);
 
BEZIER_COM_TRAJ_DLLAPI std::pair<MatrixXX, VectorX>
compute6dControlPointInequalities(const ContactData& cData,
                                  const std::vector<waypoint6_t>& wps,
                                  const std::vector<waypoint6_t>& wpL,
                                  const bool useAngMomentum, bool& fail);
 
BEZIER_COM_TRAJ_DLLAPI std::pair<MatrixXX, VectorX>
compute6dControlPointEqualities(const ContactData& cData,
                                const std::vector<waypoint6_t>& wps,
                                const std::vector<waypoint6_t>& wpL,
                                const bool useAngMomentum, bool& fail);
 
BEZIER_COM_TRAJ_DLLAPI ResultData
solve(Cref_matrixXX A, Cref_vectorX b, Cref_matrixXX H, Cref_vectorX g,
      Cref_vectorX initGuess, Cref_vectorX minBounds, Cref_vectorX maxBounds,
      const solvers::SolverType solver = solvers::SOLVER_QUADPROG);
BEZIER_COM_TRAJ_DLLAPI ResultData
solve(Cref_matrixXX A, Cref_vectorX b, Cref_matrixXX D, Cref_vectorX d,
      Cref_matrixXX H, Cref_vectorX g, Cref_vectorX initGuess,
      const solvers::SolverType solver = solvers::SOLVER_QUADPROG);
 
BEZIER_COM_TRAJ_DLLAPI ResultData
solve(const std::pair<MatrixXX, VectorX>& Ab,
      const std::pair<MatrixXX, VectorX>& Hg, const VectorX& init,
      const solvers::SolverType solver = solvers::SOLVER_QUADPROG);
 
BEZIER_COM_TRAJ_DLLAPI ResultData
solve(const std::pair<MatrixXX, VectorX>& Ab,
      const std::pair<MatrixXX, VectorX>& Dd,
      const std::pair<MatrixXX, VectorX>& Hg, Cref_vectorX minBounds,
      Cref_vectorX maxBounds, const VectorX& init,
      const solvers::SolverType solver = solvers::SOLVER_QUADPROG);
 
template <typename Point>
BEZIER_COM_TRAJ_DLLAPI std::vector<std::pair<double, Point> >
computeDiscretizedWaypoints(const ProblemData& pData, double T,
                            const T_time& timeArray);
 
template <typename Point>
BEZIER_COM_TRAJ_DLLAPI std::vector<std::pair<double, Point> >
computeDiscretizedAccelerationWaypoints(const ProblemData& pData, double T,
                                        const T_time& timeArray);
 
}  // end namespace bezier_com_traj
 
#include "common_solve_methods.inl"
 
#endif