base_motion_constraint.h

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#ifndef TOWR_CONSTRAINTS_BASE_MOTION_CONSTRAINT_H_
#define TOWR_CONSTRAINTS_BASE_MOTION_CONSTRAINT_H_

#include <towr/variables/spline_holder.h>
#include <towr/variables/spline.h>
#include <towr/parameters.h>

#include "time_discretization_constraint.h"

namespace towr {

class BaseMotionConstraint : public TimeDiscretizationConstraint {
public:

  BaseMotionConstraint (const Parameters& params,
                        const SplineHolder& spline_holder);
  virtual ~BaseMotionConstraint () = default;

  void UpdateConstraintAtInstance (double t, int k, VectorXd& g) const override;
  void UpdateBoundsAtInstance (double t, int k, VecBound&) const override;
  virtual void UpdateJacobianAtInstance(double t, int k, std::string, Jacobian&) const override;

private:
  NodeSpline::Ptr base_linear_;
  NodeSpline::Ptr base_angular_;

  VecBound node_bounds_;     
  int GetRow (int node, int dim) const;
};

} /* namespace towr */

#endif /* TOWR_CONSTRAINTS_BASE_MOTION_CONSTRAINT_H_ */