derivative_checker.hpp

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#ifndef ROBOTOC_DERIVATIVE_CHECKER_HPP_
#define ROBOTOC_DERIVATIVE_CHECKER_HPP_
 
#include <memory>
 
#include "robotoc/robot/robot.hpp"
#include "robotoc/robot/contact_status.hpp"
#include "robotoc/robot/impact_status.hpp"
#include "robotoc/cost/cost_function_component_base.hpp"
 
 
namespace robotoc {
 
class DerivativeChecker {
public:
  explicit DerivativeChecker(const Robot& robot, 
                             const double finite_diff=1.0e-08, 
                             const double test_tol=1.0e-03);
 
  ~DerivativeChecker();
 
  void setFiniteDifference(const double finite_diff=1.0e-08);
 
  void setTestTolerance(const double test_tol=1.0e-03);
 
  bool checkFirstOrderStageCostDerivatives(
      const std::shared_ptr<CostFunctionComponentBase>& cost);
 
  bool checkSecondOrderStageCostDerivatives(
      const std::shared_ptr<CostFunctionComponentBase>& cost);
 
  bool checkFirstOrderStageCostDerivatives(
      const std::shared_ptr<CostFunctionComponentBase>& cost, 
      const ContactStatus& contact_status);
 
  bool checkSecondOrderStageCostDerivatives(
      const std::shared_ptr<CostFunctionComponentBase>& cost,
      const ContactStatus& contact_status);
 
  bool checkFirstOrderTerminalCostDerivatives(
      const std::shared_ptr<CostFunctionComponentBase>& cost);
 
  bool checkSecondOrderTerminalCostDerivatives(
      const std::shared_ptr<CostFunctionComponentBase>& cost);
 
  bool checkFirstOrderImpactCostDerivatives(
      const std::shared_ptr<CostFunctionComponentBase>& cost);
 
  bool checkSecondOrderImpactCostDerivatives(
      const std::shared_ptr<CostFunctionComponentBase>& cost);
 
  bool checkFirstOrderImpactCostDerivatives(
      const std::shared_ptr<CostFunctionComponentBase>& cost, 
      const ImpactStatus& impact_status);
 
  bool checkSecondOrderImpactCostDerivatives(
      const std::shared_ptr<CostFunctionComponentBase>& cost,
      const ImpactStatus& impact_status);
 
private:  
  Robot robot_;
  double finite_diff_, test_tol_;
 
};
  
} // namespace robotoc 
 
#endif // ROBOTOC_DERIVATIVE_CHECKER_HPP_