force_constraint.h

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#ifndef TOWR_CONSTRAINTS_FORCE_CONSTRAINT_H_
#define TOWR_CONSTRAINTS_FORCE_CONSTRAINT_H_

#include <ifopt/constraint_set.h>

#include <towr/variables/nodes_variables_phase_based.h>
#include <towr/terrain/height_map.h> // for friction cone

namespace towr {

class ForceConstraint : public ifopt::ConstraintSet {
public:
  using Vector3d = Eigen::Vector3d;
  using EE = uint;

  ForceConstraint (const HeightMap::Ptr& terrain,
                   double force_limit_in_normal_direction,
                   EE endeffector_id);
  virtual ~ForceConstraint () = default;

  void InitVariableDependedQuantities(const VariablesPtr& x) override;

  VectorXd GetValues() const override;
  VecBound GetBounds() const override;
  void FillJacobianBlock (std::string var_set, Jacobian&) const override;

private:
  NodesVariablesPhaseBased::Ptr ee_force_;  
  NodesVariablesPhaseBased::Ptr ee_motion_; 

  HeightMap::Ptr terrain_; 
  double fn_max_;          
  double mu_;              
  int n_constraints_per_node_; 
  EE ee_;                  

  std::vector<int> pure_stance_force_node_ids_;
};

} /* namespace towr */

#endif /* TOWR_CONSTRAINTS_FORCE_CONSTRAINT_H_ */