soft_constraint.h

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#ifndef TOWR_COSTS_SOFT_CONSTRAINT_H_
#define TOWR_COSTS_SOFT_CONSTRAINT_H_

#include <ifopt/cost_term.h>

namespace towr {

class SoftConstraint : public ifopt::Component {
public:
  using ConstraintPtr = Component::Ptr;

  SoftConstraint (const ConstraintPtr& constraint);
  virtual ~SoftConstraint () = default;

private:
  ConstraintPtr constraint_;
  VectorXd W_; 
  VectorXd b_; 

  virtual VectorXd GetValues () const override;

  virtual Jacobian GetJacobian() const override;

  // doesn't exist for cost, generated run-time error when used
  virtual VecBound GetBounds() const override final { return VecBound(GetRows(), ifopt::NoBound); };
  virtual void SetVariables(const VectorXd& x) override final { assert(false); };
};

} /* namespace towr */

#endif /* TOWR_COSTS_SOFT_CONSTRAINT_H_ */