constraint-base.hpp

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//
// Copyright (c) 2017 CNRS
//

#ifndef __invdyn_math_constraint_base_hpp__
#define __invdyn_math_constraint_base_hpp__

#include "tsid/math/fwd.hpp"
#include <string>
#include <pinocchio/macros.hpp>

namespace tsid {
namespace math {

class ConstraintBase {
 public:
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW

 ConstraintBase(const std::string& name);

 ConstraintBase(const std::string& name, const unsigned int rows,
 const unsigned int cols);

 ConstraintBase(const std::string& name, ConstRefMatrix A);
 virtual ~ConstraintBase() = default;

 virtual const std::string& name() const;
 virtual unsigned int rows() const = 0;
 virtual unsigned int cols() const = 0;
 virtual void resize(const unsigned int r, const unsigned int c) = 0;

 virtual bool isEquality() const = 0;
 virtual bool isInequality() const = 0;
 virtual bool isBound() const = 0;

 virtual const Matrix& matrix() const;
 virtual const Vector& vector() const = 0;
 virtual const Vector& lowerBound() const = 0;
 virtual const Vector& upperBound() const = 0;

 virtual Matrix& matrix();
 virtual Vector& vector() = 0;
 virtual Vector& lowerBound() = 0;
 virtual Vector& upperBound() = 0;

 virtual bool setMatrix(ConstRefMatrix A);
 virtual bool setVector(ConstRefVector b) = 0;
 virtual bool setLowerBound(ConstRefVector lb) = 0;
 virtual bool setUpperBound(ConstRefVector ub) = 0;

 virtual bool checkConstraint(ConstRefVector x, double tol = 1e-6) const = 0;

 protected:
 std::string m_name;
 Matrix m_A;
};

} // namespace math
} // namespace tsid

#endif // ifndef __invdyn_math_constraint_base_hpp__