unconstrained_time_indexed_problem.h

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#ifndef EXOTICA_CORE_UNCONSTRAINED_TIME_INDEXED_PROBLEM_H_
#define EXOTICA_CORE_UNCONSTRAINED_TIME_INDEXED_PROBLEM_H_
 
#include <exotica_core/planning_problem.h>
#include <exotica_core/tasks.h>
 
#include <exotica_core/problems/abstract_time_indexed_problem.h>
#include <exotica_core/unconstrained_time_indexed_problem_initializer.h>
 
namespace exotica
{
class UnconstrainedTimeIndexedProblem : public AbstractTimeIndexedProblem, public Instantiable<UnconstrainedTimeIndexedProblemInitializer>
{
public:
    using AbstractTimeIndexedProblem::Update;
 
    UnconstrainedTimeIndexedProblem() = default;
    virtual ~UnconstrainedTimeIndexedProblem() = default;
 
    void Instantiate(const UnconstrainedTimeIndexedProblemInitializer& init) override;
 
    void PreUpdate() override;
 
    void Update(Eigen::VectorXdRefConst x_in, int t) override;
 
    // As this is an unconstrained problem, it is always valid.
    bool IsValid() override;
 
    // Delete bound constraints
    Eigen::MatrixXd GetBounds() const = delete;
 
    // Delete general constraints
    void SetGoalEQ(const std::string& task_name, Eigen::VectorXdRefConst goal, int t = 0) = delete;
    Eigen::VectorXd GetGoalEQ(const std::string& task_name, int t = 0) = delete;
    void SetRhoEQ(const std::string& task_name, const double rho, int t = 0) = delete;
    double GetRhoEQ(const std::string& task_name, int t = 0) = delete;
    void SetGoalNEQ(const std::string& task_name, Eigen::VectorXdRefConst goal, int t = 0) = delete;
    Eigen::VectorXd GetGoalNEQ(const std::string& task_name, int t = 0) = delete;
    void SetRhoNEQ(const std::string& task_name, const double rho, int t = 0) = delete;
    double GetRhoNEQ(const std::string& task_name, int t = 0) = delete;
    Eigen::VectorXd GetEquality() const = delete;
    Eigen::VectorXd GetInequality() const = delete;
    Eigen::SparseMatrix<double> GetEqualityJacobian() const = delete;
    Eigen::SparseMatrix<double> GetInequalityJacobian() const = delete;
    std::vector<Eigen::Triplet<double>> GetEqualityJacobianTriplets() const = delete;
    int get_active_nonlinear_equality_constraints_dimension() const = delete;
    Eigen::VectorXd GetEquality(int t) const = delete;
    Eigen::MatrixXd GetEqualityJacobian(int t) const = delete;
    Eigen::VectorXd GetInequality(int t) const = delete;
    Eigen::MatrixXd GetInequalityJacobian(int t) const = delete;
    std::vector<Eigen::Triplet<double>> GetInequalityJacobianTriplets() const = delete;
    int get_active_nonlinear_inequality_constraints_dimension() const = delete;
    int get_joint_velocity_constraint_dimension() const = delete;
    Eigen::VectorXd GetJointVelocityConstraint() const = delete;
    Eigen::MatrixXd GetJointVelocityConstraintBounds() const = delete;
    std::vector<Eigen::Triplet<double>> GetJointVelocityConstraintJacobianTriplets() const = delete;
    Eigen::VectorXd GetJointVelocityLimits() const = delete;
    void SetJointVelocityLimits(const Eigen::VectorXd& qdot_max_in) = delete;
 
private:
    void ReinitializeVariables() override;
};
typedef std::shared_ptr<exotica::UnconstrainedTimeIndexedProblem> UnconstrainedTimeIndexedProblemPtr;
}  // namespace exotica
 
#endif  // EXOTICA_CORE_UNCONSTRAINED_TIME_INDEXED_PROBLEM_H_