mpc_periodic_swing_foot_ref.hpp

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#ifndef ROBOTOC_MPC_PERIODIC_SWING_FOOT_REF_HPP_
#define ROBOTOC_MPC_PERIODIC_SWING_FOOT_REF_HPP_
 
#include "Eigen/Core"
 
#include "robotoc/robot/robot.hpp"
#include "robotoc/cost/task_space_3d_cost.hpp"
#include "robotoc/planner/contact_sequence.hpp"
#include "robotoc/mpc/contact_planner_base.hpp"
 
 
namespace robotoc {
 
class MPCPeriodicSwingFootRef final : public TaskSpace3DRefBase {
public:
  MPCPeriodicSwingFootRef(const int contact_index,
                          const double swing_height, const double swing_start_time, 
                          const double period_swing, const double period_stance,
                          const int num_phases_in_period=1);
 
  ~MPCPeriodicSwingFootRef();
 
  void setPeriod(const double swing_start_time, const double period_swing, 
                 const double period_stance, const int num_phases_in_period=1);
 
  void setSwingFootRef(const std::shared_ptr<ContactSequence>& contact_sequence,
                       const std::shared_ptr<ContactPlannerBase>& foot_step_planner);
 
  void updateRef(const GridInfo& grid_info, Eigen::VectorXd& x3d_ref) const override;
 
  bool isActive(const GridInfo& grid_info) const override;
 
private:
  int contact_index_;
  std::vector<Eigen::Vector3d> contact_position_;
  std::vector<bool> is_contact_active_;
  double swing_height_, swing_start_time_, period_swing_, period_stance_, period_;
  int num_phases_in_period_;
};
 
} // namespace robotoc
 
#endif // ROBOTOC_MPC_PERIODIC_SWING_FOOT_REF_HPP_