discrete_time_swing_foot_ref.hpp

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#ifndef ROBOTOC_DISCRETE_TIME_SWING_FOOT_REF_HPP_
#define ROBOTOC_DISCRETE_TIME_SWING_FOOT_REF_HPP_
 
#include <vector>
#include <memory>
 
#include "Eigen/Core"
 
#include "robotoc/robot/robot.hpp"
#include "robotoc/cost/task_space_3d_cost.hpp"
#include "robotoc/planner/contact_sequence.hpp"
 
 
namespace robotoc {
 
class DiscreteTimeSwingFootRef : public TaskSpace3DRefBase {
public:
  DiscreteTimeSwingFootRef(const int contact_index, const double step_height);
 
  ~DiscreteTimeSwingFootRef();
 
  void setSwingFootRef(const std::shared_ptr<ContactSequence>& contact_sequence);
 
  void setSwingFootRef(const std::shared_ptr<ContactSequence>& contact_sequence, 
                       const Eigen::Vector3d& first_contact_position, 
                       const Eigen::Vector3d& last_contact_position, 
                       const double first_rate=0, const double last_rate=0);
 
  void updateRef(const GridInfo& grid_info, 
                      Eigen::VectorXd& x3d_ref) const override;
 
  bool isActive(const GridInfo& grid_info) const override;
 
private:
  int contact_index_, num_contact_phases_;
  double step_height_, first_rate_, last_rate_;
  std::vector<Eigen::Vector3d> contact_position_;
  std::vector<bool> is_contact_active_;
 
};
 
} // namespace robotoc
 
#endif // ROBOTOC_DISCRETE_TIME_SWING_FOOT_REF_HPP_