constraint_component_data.hpp

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#ifndef ROBOTOC_CONSTRAINT_COMPONENT_DATA_HPP_
#define ROBOTOC_CONSTRAINT_COMPONENT_DATA_HPP_
 
#include <vector>
 
#include "Eigen/Core"
 
 
namespace robotoc {
 
class ConstraintComponentData {
public:
  ConstraintComponentData(const int dimc, const double barrier_param);
 
  ConstraintComponentData();
 
  ~ConstraintComponentData() = default;
 
  ConstraintComponentData(const ConstraintComponentData&) = default;
 
  ConstraintComponentData& operator=(const ConstraintComponentData&) = default;
 
  ConstraintComponentData(ConstraintComponentData&&) noexcept = default;
 
  ConstraintComponentData& operator=(ConstraintComponentData&&) noexcept = default;
 
  Eigen::VectorXd slack;
 
  Eigen::VectorXd dual;
 
  Eigen::VectorXd residual;
 
  Eigen::VectorXd cmpl;
 
  Eigen::VectorXd dslack;
 
  Eigen::VectorXd ddual;
 
  Eigen::VectorXd cond;
 
  double log_barrier;
 
  std::vector<Eigen::VectorXd> r;
 
  std::vector<Eigen::MatrixXd> J;
 
  double KKTError() const {
    return (residual.squaredNorm() + cmpl.squaredNorm());
  }
 
  template <int p=1>
  double primalFeasibility() const {
    return residual.template lpNorm<p>();
  }
 
  template <int p=1>
  double dualFeasibility() const {
    return cmpl.template lpNorm<p>();
  }
 
  void resize(const int dimc);
 
  int dimc() const {
    return dimc_;
  }
 
  bool checkDimensionalConsistency() const;
 
  bool isApprox(const ConstraintComponentData& other) const;
 
private:
  int dimc_;
 
};
 
} // namespace robotoc
 
#endif // ROBOTOC_CONSTRAINT_COMPONENT_DATA_HPP_