nodes_variables_phase_based.h

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#ifndef TOWR_VARIABLES_PHASE_NODES_H_
#define TOWR_VARIABLES_PHASE_NODES_H_

#include "nodes_variables.h"

namespace towr {

class NodesVariablesPhaseBased : public NodesVariables {
public:
  using Ptr         = std::shared_ptr<NodesVariablesPhaseBased>;
  using NodeIds     = std::vector<int>;
  using OptIndexMap = std::map<int, std::vector<NodeValueInfo> >;

  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);
  };

  NodesVariablesPhaseBased (int phase_count,
                            bool first_phase_constant,
                            const std::string& var_name,
                            int n_polys_in_changing_phase);

  virtual ~NodesVariablesPhaseBased() = default;

  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;

protected:
  OptIndexMap index_to_node_value_info_;
  std::vector<NodeValueInfo> GetNodeValuesInfo(int idx) const override {
    return index_to_node_value_info_.at(idx);
  }

  void SetNumberOfVariables(int n_variables);

private:
  std::vector<PolyInfo> polynomial_info_;

  int GetPolyIDAtStartOfPhase(int phase) const;

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


class NodesVariablesEEMotion : public NodesVariablesPhaseBased {
public:
  NodesVariablesEEMotion(int phase_count,
                         bool is_in_contact_at_start,
                         const std::string& name,
                         int n_polys_in_changing_phase);
  virtual ~NodesVariablesEEMotion() = default;
  OptIndexMap GetPhaseBasedEEParameterization ();
};


class NodesVariablesEEForce : public NodesVariablesPhaseBased {
public:
  NodesVariablesEEForce(int phase_count,
                         bool is_in_contact_at_start,
                         const std::string& name,
                         int n_polys_in_changing_phase);
  virtual ~NodesVariablesEEForce() = default;
  OptIndexMap GetPhaseBasedEEParameterization ();
};

} /* namespace towr */

#endif /* TOWR_VARIABLES_PHASE_NODES_H_ */