grid_info.hpp

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#ifndef ROBOTOC_GRID_INFO_HPP_
#define ROBOTOC_GRID_INFO_HPP_
 
#include <iostream>
 
 
namespace robotoc {
 
enum class GridType {
  Intermediate,
  Impact,
  Lift,
  Terminal,
};
 
struct GridInfo {
  GridType type = GridType::Intermediate;
 
  double t0 = 0;
 
  double t = 0;
 
  double dt = 0;
 
  double dt_next = 0;
 
  int phase = 0;
 
  int stage = 0;
 
  int impact_index = -1;
 
  int lift_index = -1;
 
  int stage_in_phase = 0;
 
  int num_grids_in_phase = 0;
 
  bool sto = false;
 
  bool sto_next = false;
 
  bool switching_constraint = false;
 
  void setRandom();
 
  static GridInfo Random();
 
  void disp(std::ostream& os) const;
 
  friend std::ostream& operator<<(std::ostream& os, const GridInfo& grid_info);
 
};
 
} // namespace robotoc
 
#endif // ROBOTOC_GRID_INFO_HPP_