Constraint.hpp

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#ifndef WBC_CORE_CONSTRAINT_HPP
#define WBC_CORE_CONSTRAINT_HPP
 
#include "RobotModel.hpp"
#include <Eigen/Core>
#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 Eigen::MatrixXd& A();

    const Eigen::VectorXd& b();

    const Eigen::VectorXd& lb();

    const Eigen::VectorXd& ub();

    uint size();
 
protected:

    Constraint();

    Constraint(Type type);
 
    Type c_type;

    Eigen::MatrixXd A_mtx;

    Eigen::VectorXd b_vec;

    Eigen::VectorXd lb_vec;

    Eigen::VectorXd ub_vec;
 
};
typedef std::shared_ptr<Constraint> ConstraintPtr;
 
} // namespace wbc
#endif // WBC_CORE_CONSTRAINT_HPP