constraints_data.hpp

Go to the documentation of this file.

#ifndef ROBOTOC_CONSTRAINTS_DATA_HPP_
#define ROBOTOC_CONSTRAINTS_DATA_HPP_
 
#include <vector>
 
#include "robotoc/constraints/constraint_component_data.hpp"
 
 
namespace robotoc {
 
class ConstraintsData {
public:
  ConstraintsData(const int time_stage);
 
  ConstraintsData();
 
  ~ConstraintsData() = default;
 
  ConstraintsData(const ConstraintsData&) = default;
 
  ConstraintsData& operator=(const ConstraintsData&) = default;
 
  ConstraintsData(ConstraintsData&&) noexcept = default;
 
  ConstraintsData& operator=(ConstraintsData&&) noexcept = default;
 
  void setTimeStage(const int time_stage);
 
  bool isPositionLevelValid() const {
    return is_position_level_valid_;
  }
 
  bool isVelocityLevelValid() const {
    return is_velocity_level_valid_;
  }
 
  bool isAccelerationLevelValid() const {
    return is_acceleration_level_valid_;
  }
 
  bool isImpactLevelValid() const {
    return is_impact_level_valid_;
  }
 
  double KKTError() const;
 
  double logBarrier() const;
 
  template <int p=1>
  double primalFeasibility() const;
 
  template <int p=1>
  double dualFeasibility() const;
 
  std::vector<ConstraintComponentData> position_level_data;
 
  std::vector<ConstraintComponentData> velocity_level_data;
 
  std::vector<ConstraintComponentData> acceleration_level_data;
 
  std::vector<ConstraintComponentData> impact_level_data;
 
private:
  bool is_position_level_valid_, is_velocity_level_valid_, 
       is_acceleration_level_valid_, is_impact_level_valid_;
 
};
  
} // namespace robotoc
 
#include "robotoc/constraints/constraints_data.hxx"
 
#endif // ROBOTOC_CONSTRAINTS_DATA_HPP_