nlp_formulation.h

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#ifndef TOWR_NLP_FACTORY_H_
#define TOWR_NLP_FACTORY_H_

#include <ifopt/variable_set.h>
#include <ifopt/constraint_set.h>
#include <ifopt/cost_term.h>

#include <towr/variables/spline_holder.h>
#include <towr/models/robot_model.h>
#include <towr/terrain/height_map.h>
#include <towr/parameters.h>

namespace towr {

class NlpFormulation {
public:
  using VariablePtrVec   = std::vector<ifopt::VariableSet::Ptr>;
  using ContraintPtrVec  = std::vector<ifopt::ConstraintSet::Ptr>;
  using CostPtrVec       = std::vector<ifopt::CostTerm::Ptr>;
  using EEPos            = std::vector<Eigen::Vector3d>;
  using Vector3d         = Eigen::Vector3d;

  NlpFormulation ();
  virtual ~NlpFormulation () = default;

  VariablePtrVec GetVariableSets(SplineHolder& spline_holder);

  ContraintPtrVec GetConstraints(const SplineHolder& spline_holder) const;

  ContraintPtrVec GetCosts() const;


  BaseState initial_base_;
  BaseState final_base_;
  EEPos  initial_ee_W_;
  RobotModel model_;
  HeightMap::Ptr terrain_;
  Parameters params_;

private:
  // variables
  std::vector<NodesVariables::Ptr> MakeBaseVariables() const;
  std::vector<NodesVariablesPhaseBased::Ptr> MakeEndeffectorVariables() const;
  std::vector<NodesVariablesPhaseBased::Ptr> MakeForceVariables() const;
  std::vector<PhaseDurations::Ptr> MakeContactScheduleVariables() const;

  // constraints
  ContraintPtrVec GetConstraint(Parameters::ConstraintName name,
                                const SplineHolder& splines) const;
  ContraintPtrVec MakeDynamicConstraint(const SplineHolder& s) const;
  ContraintPtrVec MakeRangeOfMotionBoxConstraint(const SplineHolder& s) const;
  ContraintPtrVec MakeTotalTimeConstraint() const;
  ContraintPtrVec MakeTerrainConstraint() const;
  ContraintPtrVec MakeForceConstraint() const;
  ContraintPtrVec MakeSwingConstraint() const;
  ContraintPtrVec MakeBaseRangeOfMotionConstraint(const SplineHolder& s) const;
  ContraintPtrVec MakeBaseAccConstraint(const SplineHolder& s) const;

  // costs
  CostPtrVec GetCost(const Parameters::CostName& id, double weight) const;
  CostPtrVec MakeForcesCost(double weight) const;
  CostPtrVec MakeEEMotionCost(double weight) const;
};

} /* namespace towr */

#endif /* TOWR_NLP_FACTORY_H_ */