quadratic_cost_se2.h

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/*********************************************************************
 *
 *  Software License Agreement
 *
 *  Copyright (c) 2020, Christoph Rösmann, All rights reserved.
 *
 *  This program is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation, either version 3 of the License, or
 *  (at your option) any later version.
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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/>.
 *
 *  Authors: Christoph Rösmann
 *********************************************************************/

#ifndef QUADRATIC_COST_SE2_H_
#define QUADRATIC_COST_SE2_H_

#include <corbo-optimal-control/functions/quadratic_cost.h>
#include <corbo-optimal-control/functions/quadratic_state_cost.h>

#include <cmath>
#include <memory>

namespace mpc_local_planner {

class QuadraticFormCostSE2 : public corbo::QuadraticFormCost
{
 public:
    using Ptr = std::shared_ptr<QuadraticFormCostSE2>;

    QuadraticFormCostSE2() : corbo::QuadraticFormCost() {}

    QuadraticFormCostSE2(const Eigen::Ref<const Eigen::MatrixXd>& Q, const Eigen::Ref<const Eigen::MatrixXd>& R, bool integral_form = false,
                         bool lsq_form = false)
        : corbo::QuadraticFormCost(Q, R, integral_form, lsq_form)
    {
    }

    // implements interface method
    corbo::StageCost::Ptr getInstance() const override { return std::make_shared<QuadraticFormCostSE2>(); }

    // implements interface method
    void computeNonIntegralStateTerm(int k, const Eigen::Ref<const Eigen::VectorXd>& x_k, Eigen::Ref<Eigen::VectorXd> cost) const override;

    // implements interface method
    void computeIntegralStateControlTerm(int k, const Eigen::Ref<const Eigen::VectorXd>& x_k, const Eigen::Ref<const Eigen::VectorXd>& u_k,
                                         Eigen::Ref<Eigen::VectorXd> cost) const override;
};

class QuadraticStateCostSE2 : public corbo::QuadraticStateCost
{
 public:
    using Ptr = std::shared_ptr<QuadraticStateCostSE2>;

    QuadraticStateCostSE2() : corbo::QuadraticStateCost() {}

    QuadraticStateCostSE2(const Eigen::Ref<const Eigen::MatrixXd>& Q, bool integral_form = false, bool lsq_form = false)
        : corbo::QuadraticStateCost(Q, integral_form, lsq_form)
    {
    }

    // implements interface method
    corbo::StageCost::Ptr getInstance() const override { return std::make_shared<QuadraticStateCostSE2>(); }

    // implements interface method
    void computeNonIntegralStateTerm(int k, const Eigen::Ref<const Eigen::VectorXd>& x_k, Eigen::Ref<Eigen::VectorXd> cost) const override;

    // implements interface method
    void computeIntegralStateControlTerm(int k, const Eigen::Ref<const Eigen::VectorXd>& x_k, const Eigen::Ref<const Eigen::VectorXd>& u_k,
                                         Eigen::Ref<Eigen::VectorXd> cost) const override;
};

}  // namespace mpc_local_planner

#endif  // QUADRATIC_COST_SE2_H_