//

// Copyright (c) 2017 CNRS

//

// This file is part of tsid

// tsid is free software: you can redistribute it

// and/or modify it under the terms of the GNU Lesser General Public

// License as published by the Free Software Foundation, either version

// 3 of the License, or (at your option) any later version.

// tsid is distributed in the hope that it will be

// useful, but WITHOUT ANY WARRANTY; without even the implied warranty

// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU

// General Lesser Public License for more details. You should have

// received a copy of the GNU Lesser General Public License along with

// tsid. If not, see

// <http://www.gnu.org/licenses/>.

//

#ifndef __invdyn_math_constraint_equality_hpp__

#define __invdyn_math_constraint_equality_hpp__

#include "tsid/math/constraint-base.hpp"

namespace tsid {

namespace math {

class ConstraintEquality : public ConstraintBase {

 public:

  ConstraintEquality(const std::string& name);

  ConstraintEquality(const std::string& name, const unsigned int rows,

                     const unsigned int cols);

  ConstraintEquality(const std::string& name, ConstRefMatrix A,

                     ConstRefVector b);

  unsigned int rows() const;

  unsigned int cols() const;

  void resize(const unsigned int r, const unsigned int c);

  bool isEquality() const;

  bool isInequality() const;

  bool isBound() const;

  const Vector& vector() const;

  const Vector& lowerBound() const;

  const Vector& upperBound() const;

  Vector& vector();

  Vector& lowerBound();

  Vector& upperBound();

  bool setVector(ConstRefVector b);

  bool setLowerBound(ConstRefVector lb);

  bool setUpperBound(ConstRefVector ub);

  bool checkConstraint(ConstRefVector x, double tol = 1e-6) const;

 protected:

  Vector m_b;

};

}  // namespace math

}  // namespace tsid

#endif  // ifndef __invdyn_math_constraint_equality_hpp__