phase_durations.h

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#ifndef TOWR_VARIABLES_CONTACT_SCHEDULE_H_
#define TOWR_VARIABLES_CONTACT_SCHEDULE_H_

#include <ifopt/variable_set.h>

#include "phase_durations_observer.h"

namespace towr {

class PhaseDurations : public ifopt::VariableSet {
public:
  using Ptr           = std::shared_ptr<PhaseDurations>;
  using VecDurations  = std::vector<double>;
  using EndeffectorID = uint;


  PhaseDurations (EndeffectorID ee,
                  const VecDurations& initial_durations,
                  bool is_first_phase_in_contact,
                  double min_phase_duration,
                  double max_phase_duration);
  virtual ~PhaseDurations () = default;

  VecDurations GetPhaseDurations() const;

  VectorXd GetValues() const override;

  void SetVariables(const VectorXd& x) override;

  VecBound GetBounds () const override;

  Jacobian GetJacobianOfPos(int phase, const VectorXd& dx_dT, const VectorXd& xd) const;

  void AddObserver(PhaseDurationsObserver* const spline);

  bool IsContactPhase(double t) const;

private:
  VecDurations durations_;

  double t_total_;
  bool initial_contact_state_; 
  ifopt::Bounds phase_duration_bounds_;

  std::vector<PhaseDurationsObserver*> observers_;
  void UpdateObservers() const;
};

} /* namespace towr */

#endif /* TOWR_VARIABLES_CONTACT_SCHEDULE_H_ */