range_of_motion_constraint.h

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#ifndef TOWR_CONSTRAINTS_RANGE_OF_MOTION_CONSTRAINT_H_
#define TOWR_CONSTRAINTS_RANGE_OF_MOTION_CONSTRAINT_H_

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

#include <towr/models/kinematic_model.h>
#include <towr/parameters.h>

#include "time_discretization_constraint.h"

namespace towr {

class RangeOfMotionConstraint : public TimeDiscretizationConstraint {
public:
  using EE = uint;
  using Vector3d = Eigen::Vector3d;

  RangeOfMotionConstraint(const KinematicModel::Ptr& robot_model,
                          const Parameters& params,
                          const EE& ee,
                          const SplineHolder& spline_holder);
  virtual ~RangeOfMotionConstraint() = default;

private:
  NodeSpline::Ptr base_linear_;     
  EulerConverter base_angular_; 
  NodeSpline::Ptr ee_motion_;       

  Eigen::Vector3d max_deviation_from_nominal_;
  Eigen::Vector3d nominal_ee_pos_B_;
  EE ee_;

  // see TimeDiscretizationConstraint for documentation
  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;

  int GetRow(int node, int dimension) const;
};

} /* namespace towr */

#endif /* TOWR_CONSTRAINTS_RANGE_OF_MOTION_CONSTRAINT_H_ */