Constraint.hpp

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#ifndef CONSTRAINT_HPP
#define CONSTRAINT_HPP
 
#include "RobotModel.hpp"
#include <base/Eigen.hpp>
#include <base/Time.hpp>
#include <base/NamedVector.hpp>
#include <memory>
 
namespace wbc{
 
class Constraint{
public:
 
    enum Type {
      equality = 0,
      inequality = 1,
      bounds = 2
    };
 
    virtual ~Constraint() = default;
 
    virtual void update(RobotModelPtr robot_model) = 0;
 
    Type type(); 
 
    const base::MatrixXd& A();
 
    const base::VectorXd& b();
 
    const base::VectorXd& lb();
 
    const base::VectorXd& ub();
 
    uint size();
 
protected:
 
    Constraint();
 
    Constraint(Type type);
 
    Type c_type;
 
    base::MatrixXd A_mtx;
 
    base::VectorXd b_vec;
 
    base::VectorXd lb_vec;
 
    base::VectorXd ub_vec;
 
};
typedef std::shared_ptr<Constraint> ConstraintPtr;
 
} // namespace wbc
#endif