phase_nodes.h

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#ifndef TOWR_VARIABLES_PHASE_NODES_H_
#define TOWR_VARIABLES_PHASE_NODES_H_

#include "nodes.h"

namespace towr {

class PhaseNodes : public Nodes {
public:
  using Ptr       = std::shared_ptr<PhaseNodes>;
  using OptNodeIs = int;
  using NodeIds   = std::vector<int>;

  enum Type {Force, Motion};

  struct PolyInfo {
    int phase_; 
    int poly_in_phase_; 
    int n_polys_in_phase_; 
    bool is_constant_; 
    PolyInfo(int phase, int poly_in_phase, int n_polys_in_phase, bool is_const);
  };

  PhaseNodes (int phase_count, bool in_contact_start, const std::string& var_name,
              int n_polys_in_changing_phase, Type type);

  virtual ~PhaseNodes() = default;

  virtual std::vector<IndexInfo> GetNodeInfoAtOptIndex(int idx) const override;

  Eigen::Vector3d GetValueAtStartOfPhase(int phase) const;

  int GetNodeIDAtStartOfPhase(int phase) const;

  int GetPhase(int node_id) const;

  virtual bool IsConstantNode(int node_id) const;

  NodeIds GetIndicesOfNonConstantNodes() const;

  virtual VecDurations
  ConvertPhaseToPolyDurations(const VecDurations& phase_durations) const;

  virtual double
  GetDerivativeOfPolyDurationWrtPhaseDuration(int polynomial_id) const;

  virtual int
  GetNumberOfPrevPolynomialsInPhase(int polynomial_id) const;

  virtual bool IsInConstantPhase(int polynomial_id) const;

private:
  std::vector<PolyInfo> polynomial_info_;

  // maps from the nodes that are actually optimized over to all the nodes.
  // Optimized nodes are sometimes used twice in a constant phase.
  // This is where the constant phases are enforced.
  std::map<OptNodeIs, NodeIds > optnode_to_node_;

  int GetPolyIDAtStartOfPhase(int phase) const;

  static std::map<OptNodeIs, NodeIds>
  GetOptNodeToNodeMappings(const std::vector<PolyInfo>&);

  void SetBoundsEEMotion();

  void SetBoundsEEForce();

  std::vector<int> GetAdjacentPolyIds(int node_id) const;

};
} /* namespace towr */

#endif /* TOWR_VARIABLES_PHASE_NODES_H_ */