constraint_set.h

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#ifndef IFOPT_INCLUDE_IFOPT_CONSTRAINT_SET_H_
#define IFOPT_INCLUDE_IFOPT_CONSTRAINT_SET_H_

#include "composite.h"

namespace ifopt {

class ConstraintSet : public Component {
public:
  using Ptr          = std::shared_ptr<ConstraintSet>;
  using VariablesPtr = Composite::Ptr;

  ConstraintSet(int n_constraints, const std::string& name);
  virtual ~ConstraintSet() = default;

  virtual void LinkWithVariables(const VariablesPtr& x) final;

  Jacobian GetJacobian() const override final;

protected:
  const VariablesPtr GetVariables() const { return variables_; };

private:
  virtual void FillJacobianBlock(std::string var_set, Jacobian& jac_block) const = 0;
  VariablesPtr variables_;

  virtual void InitVariableDependedQuantities(const VariablesPtr& x_init) {};

  // doesn't exist for constraints, generated run-time error when used
  virtual void SetVariables(const VectorXd& x) override final { assert(false); };
};


} // namespace ifopt


#endif /* IFOPT_INCLUDE_IFOPT_CONSTRAINT_SET_H_ */