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// |
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// Copyright (c) 2017 CNRS |
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// |
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// This file is part of tsid |
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// tsid is free software: you can redistribute it |
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// and/or modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation, either version |
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// 3 of the License, or (at your option) any later version. |
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// tsid is distributed in the hope that it will be |
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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// General Lesser Public License for more details. You should have |
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// received a copy of the GNU Lesser General Public License along with |
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// tsid If not, see |
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// <http://www.gnu.org/licenses/>. |
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// |
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#ifndef __invdyn_math_constraint_base_hpp__ |
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#define __invdyn_math_constraint_base_hpp__ |
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#include "tsid/math/fwd.hpp" |
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#include <string> |
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#include <pinocchio/macros.hpp> |
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namespace tsid { |
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namespace math { |
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/** |
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* @brief Abstract class representing a linear equality/inequality constraint. |
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* Equality constraints are represented by a matrix A and a vector b: A*x = b |
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* Inequality constraints are represented by a matrix A and two vectors |
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* lb and ub: lb <= A*x <= ub |
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* Bounds are represented by two vectors lb and ub: lb <= x <= ub |
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*/ |
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class ConstraintBase { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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ConstraintBase(const std::string& name); |
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ConstraintBase(const std::string& name, const unsigned int rows, |
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const unsigned int cols); |
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ConstraintBase(const std::string& name, ConstRefMatrix A); |
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virtual ~ConstraintBase() {} |
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virtual const std::string& name() const; |
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virtual unsigned int rows() const = 0; |
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virtual unsigned int cols() const = 0; |
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virtual void resize(const unsigned int r, const unsigned int c) = 0; |
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virtual bool isEquality() const = 0; |
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virtual bool isInequality() const = 0; |
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virtual bool isBound() const = 0; |
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virtual const Matrix& matrix() const; |
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virtual const Vector& vector() const = 0; |
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virtual const Vector& lowerBound() const = 0; |
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virtual const Vector& upperBound() const = 0; |
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virtual Matrix& matrix(); |
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virtual Vector& vector() = 0; |
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virtual Vector& lowerBound() = 0; |
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virtual Vector& upperBound() = 0; |
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virtual bool setMatrix(ConstRefMatrix A); |
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virtual bool setVector(ConstRefVector b) = 0; |
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virtual bool setLowerBound(ConstRefVector lb) = 0; |
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virtual bool setUpperBound(ConstRefVector ub) = 0; |
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virtual bool checkConstraint(ConstRefVector x, double tol = 1e-6) const = 0; |
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protected: |
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std::string m_name; |
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Matrix m_A; |
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}; |
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} // namespace math |
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} // namespace tsid |
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#endif // ifndef __invdyn_math_constraint_base_hpp__ |
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