towr.h

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#ifndef TOWR_TOWR_H_
#define TOWR_TOWR_H_

#include <ifopt/problem.h>

#include <iostream>

#include <ifopt_ipopt/ipopt_adapter.h>

#include <towr/variables/spline_holder.h>

#include "robot_model.h"
#include "height_map.h"
#include "nlp_factory.h"
#include "parameters.h"
#include "nlp_factory.h"


namespace towr {

class TOWR {
public:
  using FeetPos = std::vector<Eigen::Vector3d>;

  TOWR ()
  {
    using namespace std;
    cout << "\n";
    cout << "************************************************************\n";
    cout << " TOWR - Trajectory Optimizer for Walking Robots (v1.1.0)\n";
    cout << "                \u00a9 Alexander W. Winkler\n";
    cout << "           https://github.com/ethz-adrl/towr\n";
    cout << "************************************************************";
    cout << "\n\n";
  }
  virtual ~TOWR () = default;

  void SetInitialState(const BaseState& base, const FeetPos& feet)
  {
    factory_.initial_base_ = base;
    factory_.initial_ee_W_ = feet;
  }

  void SetParameters(const BaseState& final_base,
                     const Parameters& params,
                     const RobotModel& model,
                     HeightMap::Ptr terrain)
  {
    factory_.final_base_ = final_base;
    factory_.params_ = params;
    factory_.model_ = model;
    factory_.terrain_ = terrain;
  }

  void SolveNLP()
  {
    nlp_ = BuildNLP();

    ifopt::IpoptAdapter::Solve(nlp_);
    // ifopt::SnoptAdapter::Solve(nlp_);

    nlp_.PrintCurrent();
  }

  SplineHolder GetSolution() const
  {
    return factory_.spline_holder_;
  }

  void SetSolution(int solver_iteration)
  {
    nlp_.SetOptVariables(solver_iteration);
  }

  int GetIterationCount() const
  {
    return nlp_.GetIterationCount();
  }

private:
  ifopt::Problem nlp_;

  NlpFactory factory_;

  ifopt::Problem BuildNLP()
  {
    ifopt::Problem nlp;

    for (auto c : factory_.GetVariableSets())
      nlp.AddVariableSet(c);

    for (auto c : factory_.GetConstraints())
      nlp.AddConstraintSet(c);

    for (auto c : factory_.GetCosts())
      nlp.AddCostSet(c);

    return nlp;
  }
};

} /* namespace towr */

#endif /* TOWR_TOWR_H_ */