contact_planner_base.hpp

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#ifndef ROBOTOC_CONTACT_PLANNER_BASE_HPP_
#define ROBOTOC_CONTACT_PLANNER_BASE_HPP_
 
#include <vector>
#include <memory>
 
#include "Eigen/Core"
 
#include "robotoc/robot/robot.hpp"
#include "robotoc/robot/contact_status.hpp"
#include "robotoc/robot/se3.hpp"
#include "robotoc/utils/aligned_vector.hpp"
 
 
namespace robotoc {
 
class ContactPlannerBase {
public:
  ContactPlannerBase() {}
 
  virtual ~ContactPlannerBase() {}
 
  ContactPlannerBase(const ContactPlannerBase&) = default;
 
  ContactPlannerBase& operator=(const ContactPlannerBase&) = default;
 
  ContactPlannerBase(ContactPlannerBase&&) noexcept = default;
 
  ContactPlannerBase& operator=(ContactPlannerBase&&) noexcept = default;
 
  virtual void init(const Eigen::VectorXd& q) = 0;
 
  virtual bool plan(const double t, const Eigen::VectorXd& q, 
                    const Eigen::VectorXd& v, 
                    const ContactStatus& contact_status,
                    const int planning_steps) = 0;
 
  virtual const aligned_vector<SE3>& contactPlacements(const int step) const = 0;
 
  virtual const std::vector<Eigen::Vector3d>& contactPositions(const int step) const = 0;
 
  virtual const std::vector<Eigen::Matrix3d>& contactSurfaces(const int step) const = 0;
 
  virtual const Eigen::Vector3d& CoM(const int step) const = 0;
 
  virtual const Eigen::Matrix3d& R(const int step) const = 0;
 
  virtual int size() const = 0;
 
  void disp(std::ostream& os) const;
 
};
 
} // namespace robotoc 
 
#endif // ROBOTOC_CONTACT_PLANNER_BASE_HPP_