discrete_time_com_ref.hpp

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#ifndef ROBOTOC_DISCRETE_TIME_COM_REF_HPP_
#define ROBOTOC_DISCRETE_TIME_COM_REF_HPP_
 
#include <vector>
#include <memory>
 
#include "Eigen/Core"
 
#include "robotoc/robot/robot.hpp"
#include "robotoc/cost/com_ref_base.hpp"
#include "robotoc/planner/contact_sequence.hpp"
 
 
namespace robotoc {
 
class DiscreteTimeCoMRef : public CoMRefBase {
public:
  DiscreteTimeCoMRef(const std::vector<Eigen::Vector3d>& com_to_contact_position);
 
  ~DiscreteTimeCoMRef();
 
  void setCoMRef(const std::shared_ptr<ContactSequence>& contact_sequence);
 
  void setCoMRef(const std::shared_ptr<ContactSequence>& contact_sequence,
                 const Eigen::Vector3d& first_com_ref, 
                 const Eigen::Vector3d& last_com_ref, 
                 const double first_rate=0, const double last_rate=0);
 
  void updateRef(const GridInfo& grid_info, 
                      Eigen::VectorXd& com_ref) const override;
 
  bool isActive(const GridInfo& grid_info) const override;
 
private:
  std::vector<Eigen::Vector3d> com_position_, com_to_contact_position_;
  std::vector<bool> has_inactive_contacts_;
  double first_rate_, last_rate_;
  int num_contact_phases_;
 
};
 
} // namespace robotoc
 
#endif // ROBOTOC_DISCRETE_TIME_COM_REF_HPP_