parameters.h

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#ifndef TOWR_OPTIMIZATION_PARAMETERS_H_
#define TOWR_OPTIMIZATION_PARAMETERS_H_

#include <vector>
#include <array>
#include <utility> // std::pair, std::make_pair

namespace towr {

class Parameters {
public:
  enum ConstraintName { Dynamic,        
                        EndeffectorRom, 
                        TotalTime,      
                        Terrain,        
                        Force,          
                        Swing,          
                        BaseRom,        
                        BaseAcc         
  };
  enum CostName       { ForcesCostID,    
                        EEMotionCostID   
  };

  using CostWeights      = std::vector<std::pair<CostName, double>>;
  using UsedConstraints  = std::vector<ConstraintName>;
  using VecTimes         = std::vector<double>;
  using EEID             = unsigned int;

  Parameters();
  virtual ~Parameters() = default;

  std::vector<VecTimes> ee_phase_durations_;

  std::vector<bool> ee_in_contact_at_start_;

  UsedConstraints constraints_;

  CostWeights costs_;

  double dt_constraint_dynamic_;

  double dt_constraint_range_of_motion_;

  double dt_constraint_base_motion_;

  double duration_base_polynomial_;

  int ee_polynomials_per_swing_phase_;

  int force_polynomials_per_stance_phase_;

  double force_limit_in_normal_direction_;

  std::vector<int> bounds_final_lin_pos_,
                   bounds_final_lin_vel_,
                   bounds_final_ang_pos_,
                   bounds_final_ang_vel_;

  std::pair<double,double> bound_phase_duration_;

  void OptimizePhaseDurations();

  VecTimes GetBasePolyDurations() const;

  int GetPhaseCount(EEID ee) const;

  bool IsOptimizeTimings() const;

  int GetEECount() const;

  double GetTotalTime() const;
};

} // namespace towr

#endif /* TOWR_OPTIMIZATION_PARAMETERS_H_ */