dynamic_constraint.h

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#ifndef TOWR_CONSTRAINTS_DYNAMIC_CONSTRAINT_H_
#define TOWR_CONSTRAINTS_DYNAMIC_CONSTRAINT_H_

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

#include <towr/models/dynamic_model.h>

#include "time_discretization_constraint.h"

namespace towr {

class DynamicConstraint : public TimeDiscretizationConstraint {
public:
  using Vector6d = Eigen::Matrix<double, 6, 1>;

  DynamicConstraint (const DynamicModel::Ptr& model,
                     double T, double dt,
                     const SplineHolder& spline_holder);
  virtual ~DynamicConstraint () = default;

private:
  NodeSpline::Ptr base_linear_;   
  EulerConverter base_angular_;        
  std::vector<NodeSpline::Ptr> ee_forces_; 
  std::vector<NodeSpline::Ptr> ee_motion_; 

  mutable DynamicModel::Ptr model_;    

  int GetRow(int k, Dim6D dimension) const;

  void UpdateModel(double t) const;

  void UpdateConstraintAtInstance(double t, int k, VectorXd& g) const override;
  void UpdateBoundsAtInstance(double t, int k, VecBound& bounds) const override;
  void UpdateJacobianAtInstance(double t, int k, std::string, Jacobian&) const override;
};

} /* namespace towr */

#endif /* TOWR_CONSTRAINTS_DYNAMIC_CONSTRAINT_H_ */