terrain_constraint.h

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#ifndef TOWR_CONSTRAINTS_TERRAIN_CONSTRAINT_H_
#define TOWR_CONSTRAINTS_TERRAIN_CONSTRAINT_H_

#include <ifopt/constraint_set.h>

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

namespace towr {

class TerrainConstraint : public ifopt::ConstraintSet {
public:
  using Vector3d = Eigen::Vector3d;

  TerrainConstraint (const HeightMap::Ptr& terrain, std::string ee_motion_id);
  virtual ~TerrainConstraint () = 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_motion_; 
  HeightMap::Ptr terrain_;    

  std::string ee_motion_id_;  
  std::vector<int> node_ids_; 
};

} /* namespace towr */

#endif /* TOWR_CONSTRAINTS_TERRAIN_CONSTRAINT_H_ */