final_state_conditions_se2.h

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 *
 *  Software License Agreement
 *
 *  Copyright (c) 2020, Christoph Rösmann, All rights reserved.
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
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 *  You should have received a copy of the GNU General Public License
 *  along with this program.  If not, see <https://www.gnu.org/licenses/>.
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 *  Authors: Christoph Rösmann
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#ifndef FINAL_STATE_CONDITIONS_SE2_H_
#define FINAL_STATE_CONDITIONS_SE2_H_

#include <corbo-optimal-control/functions/final_state_constraints.h>
#include <corbo-optimal-control/functions/final_state_cost.h>

#include <cmath>
#include <memory>

namespace mpc_local_planner {

class QuadraticFinalStateCostSE2 : public corbo::QuadraticFinalStateCost
{
 public:
    using Ptr = std::shared_ptr<QuadraticFinalStateCostSE2>;

    QuadraticFinalStateCostSE2() : corbo::QuadraticFinalStateCost() {}

    QuadraticFinalStateCostSE2(const Eigen::Ref<const Eigen::MatrixXd>& Qf, bool lsq_form = false) : corbo::QuadraticFinalStateCost(Qf, lsq_form) {}

    corbo::FinalStageCost::Ptr getInstance() const override { return std::make_shared<QuadraticFinalStateCostSE2>(); }

    void computeNonIntegralStateTerm(int k, const Eigen::Ref<const Eigen::VectorXd>& x_k, Eigen::Ref<Eigen::VectorXd> cost) const override;
};

class TerminalBallSE2 : public corbo::TerminalBall
{
 public:
    using Ptr = std::shared_ptr<TerminalBallSE2>;

    TerminalBallSE2() : corbo::TerminalBall() {}

    TerminalBallSE2(const Eigen::Ref<const Eigen::MatrixXd>& S, double gamma) : corbo::TerminalBall(S, gamma) {}

    corbo::FinalStageConstraint::Ptr getInstance() const override { return std::make_shared<TerminalBallSE2>(); }

    void computeNonIntegralStateTerm(int k, const Eigen::Ref<const Eigen::VectorXd>& x_k, Eigen::Ref<Eigen::VectorXd> cost) const override;
};

}  // namespace mpc_local_planner

#endif  // FINAL_STATE_CONDITIONS_SE2_H_