container.hpp

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//
// Copyright (c) 2018 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 __tsid_python_util_container_hpp__
#define __tsid_python_util_container_hpp__

#include "tsid/bindings/python/fwd.hpp"

#include "tsid/solvers/fwd.hpp"
#include "tsid/math/constraint-equality.hpp"
#include "tsid/math/constraint-inequality.hpp"
#include "tsid/math/constraint-bound.hpp"

using namespace std;
namespace tsid {
namespace python {
typedef solvers::ConstraintLevel ConstraintLevel;
typedef solvers::HQPData HQPData;

class ConstraintLevels {
 public:
  ConstraintLevels() {}
  ~ConstraintLevels() {}

  inline void print() {
    stringstream ss;
    for (ConstraintLevel::const_iterator iit = m_std_const.begin();
         iit != m_std_const.end(); iit++) {
      auto c = iit->second;
      ss << " - " << c->name() << ": w=" << iit->first << ", ";
      if (c->isEquality())
        ss << "equality, ";
      else if (c->isInequality())
        ss << "inequality, ";
      else
        ss << "bound, ";
      ss << c->rows() << "x" << c->cols() << endl;
    }
    cout << ss.str() << endl;
  }
  inline ConstraintLevel& get() { return m_std_const; }

  inline void append_eq(double num,
                        std::shared_ptr<math::ConstraintEquality> i) {
    m_std_const.push_back(
        solvers::make_pair<double, std::shared_ptr<math::ConstraintBase> >(num,
                                                                           i));
  }
  inline void append_ineq(double num,
                          std::shared_ptr<math::ConstraintInequality> i) {
    m_std_const.push_back(
        solvers::make_pair<double, std::shared_ptr<math::ConstraintBase> >(num,
                                                                           i));
  }
  inline void append_bound(double num,
                           std::shared_ptr<math::ConstraintBound> i) {
    m_std_const.push_back(
        solvers::make_pair<double, std::shared_ptr<math::ConstraintBase> >(num,
                                                                           i));
  }

 private:
  ConstraintLevel m_std_const;
};

class HQPDatas {
 public:
  HQPDatas() {}
  ~HQPDatas() {}

  inline void resize(size_t i) { m_std_hqp.resize(i); }

  inline void print() const {
    stringstream ss;
    unsigned int priority = 0;
    for (HQPData::const_iterator it = m_std_hqp.begin(); it != m_std_hqp.end();
         it++) {
      ss << "Level " << priority << endl;
      for (ConstraintLevel::const_iterator iit = it->begin(); iit != it->end();
           iit++) {
        auto c = iit->second;
        ss << " - " << c->name() << ": w=" << iit->first << ", ";
        if (c->isEquality())
          ss << "equality, ";
        else if (c->isInequality())
          ss << "inequality, ";
        else
          ss << "bound, ";
        ss << c->rows() << "x" << c->cols() << endl;
      }
      priority++;
    }
    cout << ss.str() << endl;
  }
  // inline void append (ConstraintLevel cons){
  //     m_std_hqp.push_back(cons);
  // }
  inline void append_helper(ConstraintLevels* cons) {
    m_std_hqp.push_back(cons->get());
  }

  inline HQPData& get() { return m_std_hqp; }
  inline bool set(const HQPData& data) {
    m_std_hqp = data;
    return true;
  }

 private:
  HQPData m_std_hqp;
};
}  // namespace python
}  // namespace tsid

#endif  // ifndef __tsid_python_util_container_hpp__