nodes_variables.h

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#ifndef TOWR_VARIABLES_NODE_VALUES_H_
#define TOWR_VARIABLES_NODE_VALUES_H_

#include <ifopt/variable_set.h>

#include "state.h"
#include "nodes_observer.h"

namespace towr {

class NodesVariables : public ifopt::VariableSet {
public:
  using Ptr          = std::shared_ptr<NodesVariables>;
  using VecDurations = std::vector<double>;
  using ObserverPtr  = NodesObserver*;

  struct NodeValueInfo {
    int id_;   
    Dx deriv_; 
    int dim_;  

    NodeValueInfo() = default;
    NodeValueInfo(int node_id, Dx deriv, int node_dim);
    int operator==(const NodeValueInfo& right) const;
  };

  virtual std::vector<NodeValueInfo> GetNodeValuesInfo(int opt_idx) const = 0;

  int GetOptIndex(const NodeValueInfo& nvi) const;
  static const int NodeValueNotOptimized = -1;

  VectorXd GetValues () const override;

  void SetVariables (const VectorXd&x) override;

  VecBound GetBounds () const override;

  const std::vector<Node> GetNodes() const;

  int GetPolynomialCount() const;

  const std::vector<Node> GetBoundaryNodes(int poly_id) const;

  enum Side {Start=0, End};
  static int GetNodeId(int poly_id, Side side);

  void AddObserver(ObserverPtr const spline);

  int GetDim() const;

  void SetByLinearInterpolation(const VectorXd& initial_val,
                                const VectorXd& final_val,
                                double t_total);

  void AddStartBound (Dx deriv, const std::vector<int>& dimensions,
                      const VectorXd& val);

  void AddFinalBound(Dx deriv, const std::vector<int>& dimensions,
                     const VectorXd& val);

protected:
  NodesVariables (const std::string& variable_name);
  virtual ~NodesVariables () = default;

  VecBound bounds_; 
  std::vector<Node> nodes_;
  int n_dim_;

private:
  void UpdateObservers() const;
  std::vector<ObserverPtr> observers_;

  void AddBounds(int node_id, Dx deriv, const std::vector<int>& dim,
                 const VectorXd& values);
  void AddBound(const NodeValueInfo& node_info, double value);
};

} /* namespace towr */

#endif /* TOWR_VARIABLES_NODE_VALUES_H_ */