nlp_factory.h

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#ifndef TOWR_NLP_FACTORY_H_
#define TOWR_NLP_FACTORY_H_

#include <ifopt/variable_set.h>
#include <ifopt/constraint_set.h>
#include <ifopt/cost_term.h>

#include <towr/variables/spline_holder.h>

#include "robot_model.h"
#include "height_map.h"
#include "parameters.h"

namespace towr {

class NlpFactory {
public:
  using VariablePtrVec   = std::vector<ifopt::VariableSet::Ptr>;
  using ContraintPtrVec  = std::vector<ifopt::ConstraintSet::Ptr>;
  using CostPtrVec       = std::vector<ifopt::CostTerm::Ptr>;
  using EEPos            = std::vector<Eigen::Vector3d>;
  using Vector3d         = Eigen::Vector3d;

  NlpFactory () = default;
  virtual ~NlpFactory () = default;

  VariablePtrVec GetVariableSets();

  ContraintPtrVec GetConstraints() const;

  ContraintPtrVec GetCosts() const;


  BaseState initial_base_;
  BaseState final_base_;
  EEPos  initial_ee_W_;
  RobotModel model_;
  HeightMap::Ptr terrain_;
  Parameters params_;

  SplineHolder spline_holder_;

private:
  // variables
  std::vector<Nodes::Ptr> MakeBaseVariables() const;
  std::vector<PhaseNodes::Ptr> MakeEndeffectorVariables() const;
  std::vector<PhaseNodes::Ptr> MakeForceVariables() const;
  std::vector<PhaseDurations::Ptr> MakeContactScheduleVariables() const;

  // constraints
  ContraintPtrVec GetConstraint(ConstraintName name) const;
  ContraintPtrVec MakeDynamicConstraint() const;
  ContraintPtrVec MakeRangeOfMotionBoxConstraint() const;
  ContraintPtrVec MakeTotalTimeConstraint() const;
  ContraintPtrVec MakeTerrainConstraint() const;
  ContraintPtrVec MakeForceConstraint() const;
  ContraintPtrVec MakeSwingConstraint() const;
  ContraintPtrVec MakeBaseRangeOfMotionConstraint() const;
  ContraintPtrVec MakeBaseAccConstraint() const;

  // costs
  CostPtrVec GetCost(const CostName& id, double weight) const;
  CostPtrVec MakeForcesCost(double weight) const;
};

} /* namespace towr */

#endif /* TOWR_NLP_FACTORY_H_ */