time_discretization_constraint.h

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#ifndef TOWR_CONSTRAINTS_TIME_DISCRETIZATION_CONSTRAINT_H_
#define TOWR_CONSTRAINTS_TIME_DISCRETIZATION_CONSTRAINT_H_

#include <string>
#include <vector>

#include <ifopt/constraint_set.h>

namespace towr {

class TimeDiscretizationConstraint : public ifopt::ConstraintSet {
public:
  using VecTimes = std::vector<double>;
  using Bounds   = ifopt::Bounds;

  TimeDiscretizationConstraint (double T, double dt, std::string constraint_name);

  TimeDiscretizationConstraint (const VecTimes& dts, std::string name);
  virtual ~TimeDiscretizationConstraint () = default;

  Eigen::VectorXd GetValues() const override;
  VecBound GetBounds() const override;
  void FillJacobianBlock (std::string var_set, Jacobian&) const override;

protected:
  int GetNumberOfNodes() const;
  VecTimes dts_; 

private:
  virtual void UpdateConstraintAtInstance(double t, int k, VectorXd& g) const = 0;

  virtual void UpdateBoundsAtInstance(double t, int k, VecBound& b) const = 0;

  virtual void UpdateJacobianAtInstance(double t, int k, std::string var_set,
                                        Jacobian& jac) const = 0;
};

} /* namespace towr */

#endif /* TOWR_CONSTRAINTS_TIME_DISCRETIZATION_CONSTRAINT_H_ */