total_duration_constraint.h

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#ifndef TOWR_CONSTRAINTS_TOTAL_DURATION_CONSTRAINT_H_
#define TOWR_CONSTRAINTS_TOTAL_DURATION_CONSTRAINT_H_

#include <ifopt/constraint_set.h>

#include <towr/variables/phase_durations.h>

namespace towr {

class TotalDurationConstraint : public ifopt::ConstraintSet {
public:
  using EE = uint;

  TotalDurationConstraint(double T_total, int ee);
  ~TotalDurationConstraint() = default;

  void InitVariableDependedQuantities(const VariablesPtr& x) override;

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

private:
  PhaseDurations::Ptr phase_durations_;
  double T_total_;
  EE ee_;
};

} // namespace towr

#endif /* TOWR_CONSTRAINTS_TOTAL_DURATION_CONSTRAINT_H_ */