node_cost.h

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#ifndef TOWR_COSTS_NODE_COST_H_
#define TOWR_COSTS_NODE_COST_H_

#include <memory>
#include <string>

#include <ifopt/cost_term.h>

#include <towr/variables/nodes_variables.h>


namespace towr {

class NodeCost : public ifopt::CostTerm {
public:
  NodeCost (const std::string& nodes_id, Dx deriv, int dim, double weight);
  virtual ~NodeCost () = default;

  void InitVariableDependedQuantities(const VariablesPtr& x) override;

  double GetCost () const override;

private:
  std::shared_ptr<NodesVariables> nodes_;

  std::string node_id_;
  Dx deriv_;
  int dim_;
  double weight_;

  void FillJacobianBlock(std::string var_set, Jacobian&) const override;
};

} /* namespace towr */

#endif /* TOWR_COSTS_NODE_COST_H_ */