spline_acc_constraint.h

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#ifndef SPLINE_ACC_CONSTRAINT_H_
#define SPLINE_ACC_CONSTRAINT_H_

#include <ifopt/constraint_set.h>

#include <towr/variables/node_spline.h>

namespace towr {

class SplineAccConstraint : public ifopt::ConstraintSet {
public:
  SplineAccConstraint(const NodeSpline::Ptr& spline, std::string name);
  virtual ~SplineAccConstraint() = default;

  VectorXd GetValues() const override;
  VecBound GetBounds() const override;
  void FillJacobianBlock (std::string var_set, Jacobian&) const override;

private:
  NodeSpline::Ptr spline_;        
  std::string node_variables_id_; 

  int n_junctions_;       
  int n_dim_;             
  std::vector<double> T_; 
};

} /* namespace towr */

#endif /* SPLINE_ACC_CONSTRAINT_H_ */