total_duration_constraint.cc

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#include <towr/constraints/total_duration_constraint.h>
#include <towr/variables/variable_names.h>

namespace towr {


TotalDurationConstraint::TotalDurationConstraint (double T_total, int ee)
    :ConstraintSet(1, "DurationConstraint_ee_-" + std::to_string(ee))
{
  T_total_ = T_total;
  ee_ = ee;
}

void
TotalDurationConstraint::InitVariableDependedQuantities (const VariablesPtr& x)
{
  phase_durations_ = x->GetComponent<PhaseDurations>(id::EESchedule(ee_));
}

Eigen::VectorXd
TotalDurationConstraint::GetValues () const
{
  VectorXd g = VectorXd::Zero(GetRows());
  g(0) = phase_durations_->GetValues().sum(); // attention: excludes last duration
  return g;
}

TotalDurationConstraint::VecBound
TotalDurationConstraint::GetBounds () const
{
  // TODO hacky and should be fixed
  // since last phase is not optimized over these hardcoded numbers go here
  int min_duration_last_phase = 0.2;
  return VecBound(GetRows(), ifopt::Bounds(0.1, T_total_-min_duration_last_phase));
}

void
TotalDurationConstraint::FillJacobianBlock (std::string var_set, Jacobian& jac) const
{
  if (var_set == phase_durations_->GetName())
    for (int col=0; col<phase_durations_->GetRows(); ++col)
      jac.coeffRef(0, col) = 1.0;
}

} // namespace towr