intermediate_stage.hpp

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#ifndef ROBOTOC_INTERMEDIATE_STAGE_HPP_
#define ROBOTOC_INTERMEDIATE_STAGE_HPP_
 
#include <memory>
 
#include "Eigen/Core"
 
#include "robotoc/robot/robot.hpp"
#include "robotoc/robot/contact_status.hpp"
#include "robotoc/core/split_solution.hpp"
#include "robotoc/core/split_direction.hpp"
#include "robotoc/core/split_kkt_residual.hpp"
#include "robotoc/core/split_kkt_matrix.hpp"
#include "robotoc/cost/cost_function.hpp"
#include "robotoc/constraints/constraints.hpp"
#include "robotoc/planner/contact_sequence.hpp"
#include "robotoc/ocp/grid_info.hpp"
#include "robotoc/ocp/ocp_data.hpp"
 
 
namespace robotoc {
 
class IntermediateStage {
public:
  IntermediateStage(const std::shared_ptr<CostFunction>& cost,
                    const std::shared_ptr<Constraints>& constraints,
                    const std::shared_ptr<ContactSequence>& contact_sequence);
 
  IntermediateStage();
 
  ~IntermediateStage() = default;
 
  IntermediateStage(const IntermediateStage&) = default;
 
  IntermediateStage& operator=(const IntermediateStage&) = default;
 
  IntermediateStage(IntermediateStage&&) noexcept = default;
 
  IntermediateStage& operator=(IntermediateStage&&) noexcept = default;
 
  OCPData createData(const Robot& robot) const;
 
  bool isFeasible(Robot& robot, const GridInfo& grid_info,
                  const SplitSolution& s, OCPData& data) const;
 
  void initConstraints(Robot& robot, const GridInfo& grid_info, 
                       const SplitSolution& s, OCPData& data) const;
 
  void evalOCP(Robot& robot, const GridInfo& grid_info, const SplitSolution& s, 
               const SplitSolution& s_next, OCPData& data,
               SplitKKTResidual& kkt_residual) const;
 
  void evalKKT(Robot& robot, const GridInfo& grid_info, 
               const Eigen::VectorXd& q_prev, const SplitSolution& s, 
               const SplitSolution& s_next, OCPData& data,
               SplitKKTMatrix& kkt_matrix, SplitKKTResidual& kkt_residual) const;
 
  void expandPrimal(const GridInfo& grid_info, OCPData& data, SplitDirection& d) const;
 
  void expandDual(const GridInfo& grid_info, OCPData& data, 
                  const SplitDirection& d_next, SplitDirection& d) const;
 
  double maxPrimalStepSize(const OCPData& data) const;
 
  double maxDualStepSize(const OCPData& data) const;
 
  void updatePrimal(const Robot& robot, const double primal_step_size, 
                    const SplitDirection& d, SplitSolution& s, OCPData& data) const;
 
  void updateDual(const double dual_step_size, OCPData& data) const;
 
private:
  std::shared_ptr<CostFunction> cost_;
  std::shared_ptr<Constraints> constraints_;
  std::shared_ptr<ContactSequence> contact_sequence_;
};
 
void computeInitialStateDirection(const Robot& robot, 
                                  const Eigen::VectorXd& q0, 
                                  const Eigen::VectorXd& v0, 
                                  const SplitSolution& s0, 
                                  const OCPData& data,
                                  SplitDirection& d0);
 
} // namespace robotoc
 
#endif // ROBOTOC_INTERMEDIATE_STAGE_HPP_