constraint-base.hpp

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//
// Copyright (c) 2017 CNRS
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//

#ifndef __invdyn_math_constraint_base_hpp__
#define __invdyn_math_constraint_base_hpp__

#include "tsid/math/fwd.hpp"
#include <string>
#include <pinocchio/macros.hpp>

namespace tsid {
namespace math {

class ConstraintBase {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  ConstraintBase(const std::string& name);

  ConstraintBase(const std::string& name, const unsigned int rows,
                 const unsigned int cols);

  ConstraintBase(const std::string& name, ConstRefMatrix A);
  virtual ~ConstraintBase() {}

  virtual const std::string& name() const;
  virtual unsigned int rows() const = 0;
  virtual unsigned int cols() const = 0;
  virtual void resize(const unsigned int r, const unsigned int c) = 0;

  virtual bool isEquality() const = 0;
  virtual bool isInequality() const = 0;
  virtual bool isBound() const = 0;

  virtual const Matrix& matrix() const;
  virtual const Vector& vector() const = 0;
  virtual const Vector& lowerBound() const = 0;
  virtual const Vector& upperBound() const = 0;

  virtual Matrix& matrix();
  virtual Vector& vector() = 0;
  virtual Vector& lowerBound() = 0;
  virtual Vector& upperBound() = 0;

  virtual bool setMatrix(ConstRefMatrix A);
  virtual bool setVector(ConstRefVector b) = 0;
  virtual bool setLowerBound(ConstRefVector lb) = 0;
  virtual bool setUpperBound(ConstRefVector ub) = 0;

  virtual bool checkConstraint(ConstRefVector x, double tol = 1e-6) const = 0;

 protected:
  std::string m_name;
  Matrix m_A;
};

}  // namespace math
}  // namespace tsid

#endif  // ifndef __invdyn_math_constraint_base_hpp__