nodes.h

Go to the documentation of this file.

/******************************************************************************
Copyright (c) 2018, Alexander W. Winkler. All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

* Redistributions of source code must retain the above copyright notice, this
  list of conditions and the following disclaimer.

* Redistributions in binary form must reproduce the above copyright notice,
  this list of conditions and the following disclaimer in the documentation
  and/or other materials provided with the distribution.

* Neither the name of the copyright holder nor the names of its
  contributors may be used to endorse or promote products derived from
  this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
******************************************************************************/

#ifndef TOWR_VARIABLES_NODE_VALUES_H_
#define TOWR_VARIABLES_NODE_VALUES_H_

#include <ifopt/variable_set.h>

#include "state.h"
#include "nodes_observer.h"

namespace towr {


class Nodes : public ifopt::VariableSet {
public:
  using Ptr          = std::shared_ptr<Nodes>;
  using VecDurations = std::vector<double>;
  using ObserverPtr  = NodesObserver*;

  struct IndexInfo {
    int node_id_;   
    Dx node_deriv_; 
    int node_dim_;  

    IndexInfo() = default;
    IndexInfo(int node_id, Dx deriv, int node_dim);
    int operator==(const IndexInfo& right) const;
  };

  virtual std::vector<IndexInfo> GetNodeInfoAtOptIndex(int idx) const = 0;

  int Index(const IndexInfo& node_info) const;
  int Index(int node_id, Dx deriv, int node_dim) const;

  void InitializeNodesTowardsGoal(const VectorXd& initial_pos,
                                  const VectorXd& final_pos,
                                  double t_total);
  VectorXd GetValues () const override;

  void SetVariables (const VectorXd&x) override;

  virtual VecBound GetBounds () const override;

  const std::vector<Node> GetNodes() const;

  int GetPolynomialCount() const;

  const std::vector<Node> GetBoundaryNodes(int poly_id) const;

  enum Side {Start=0, End};
  static int GetNodeId(int poly_id, Side side);

  void AddObserver(ObserverPtr const spline);

  int GetDim() const;

  void AddStartBound (Dx deriv, const std::vector<int>& dimensions,
                      const VectorXd& val);

  void AddFinalBound(Dx deriv, const std::vector<int>& dimensions,
                     const VectorXd& val);

protected:

  Nodes (int n_dim, const std::string& variable_name);
  virtual ~Nodes () = default;

  VecBound bounds_; 

  void InitMembers(int n_nodes, int n_variables);

private:
  std::vector<Node> nodes_;
  int n_dim_;

  void UpdateObservers() const;
  std::vector<ObserverPtr> observers_;

  void AddBounds(int node_id, Dx deriv, const std::vector<int>& dim,
                 const VectorXd& values);
  void AddBound(const IndexInfo& node_info, double value);
};

} /* namespace towr */

#endif /* TOWR_VARIABLES_NODE_VALUES_H_ */