parameters.h

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#ifndef TOWR_OPTIMIZATION_PARAMETERS_H_
#define TOWR_OPTIMIZATION_PARAMETERS_H_

#include <vector>


namespace towr {

enum ConstraintName { Dynamic, EndeffectorRom, TotalTime, Terrain,
                       Force, Swing, BaseRom, BaseAcc };
enum CostName       { ForcesCostID };

struct Parameters {

  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;

  UsedConstraints constraints_;

  CostWeights costs_;

  double t_total_;

  double dt_constraint_dynamic_;

  double dt_constraint_range_of_motion_;

  double dt_constraint_base_motion_;

  double duration_base_polynomial_;

  std::vector<VecTimes> ee_phase_durations_;

  std::vector<bool> ee_in_contact_at_start_;

  double min_phase_duration_;

  double max_phase_duration_;

  int ee_polynomials_per_swing_phase_;

  int force_polynomials_per_stance_phase_;

  double force_limit_in_norm_;



  VecTimes GetBasePolyDurations() const;

  int GetPhaseCount(EEID ee) const;

  bool OptimizeTimings() const;

  int GetEECount() const;
};

} // namespace towr

#endif /* TOWR_OPTIMIZATION_PARAMETERS_H_ */