ocp.hpp

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#ifndef ROBOTOC_OCP_HPP_
#define ROBOTOC_OCP_HPP_
 
#include <vector>
#include <memory>
#include <cassert>
 
#include "robotoc/robot/robot.hpp"
#include "robotoc/cost/cost_function.hpp"
#include "robotoc/constraints/constraints.hpp"
#include "robotoc/sto/sto_cost_function.hpp"
#include "robotoc/sto/sto_constraints.hpp"
#include "robotoc/planner/contact_sequence.hpp"
 
 
namespace robotoc {
 
struct OCP {
  OCP(const Robot& robot, const std::shared_ptr<CostFunction>& cost, 
      const std::shared_ptr<Constraints>& constraints, 
      const std::shared_ptr<STOCostFunction>& sto_cost, 
      const std::shared_ptr<STOConstraints>& sto_constraints, 
      const std::shared_ptr<ContactSequence>& contact_sequence, 
      const double T, const int N, const int reserved_num_discrete_events=0);
 
  OCP(const Robot& robot, const std::shared_ptr<CostFunction>& cost, 
      const std::shared_ptr<Constraints>& constraints,  
      const std::shared_ptr<ContactSequence>& contact_sequence,
      const double T, const int N, const int reserved_num_discrete_events=0);
 
  OCP(const Robot& robot, const std::shared_ptr<CostFunction>& cost, 
      const std::shared_ptr<Constraints>& constraints,  
      const double T, const int N);
 
  OCP();
 
  ~OCP() = default;
 
  OCP(const OCP&) = default;
 
  OCP& operator=(const OCP&) = default;
 
  OCP(OCP&&) noexcept = default;
 
  OCP& operator=(OCP&&) noexcept = default;
 
  Robot robot; 
 
  std::shared_ptr<CostFunction> cost = nullptr;
 
  std::shared_ptr<Constraints> constraints = nullptr;
 
  std::shared_ptr<STOCostFunction> sto_cost= nullptr;
 
  std::shared_ptr<STOConstraints> sto_constraints = nullptr;
 
  std::shared_ptr<ContactSequence> contact_sequence = nullptr;
 
  double T = 0.0;
 
  int N = 0;
 
  int reserved_num_discrete_events = 0;
 
  void disp(std::ostream& os) const;
 
  friend std::ostream& operator<<(std::ostream& os, const OCP& ocp);
};
 
} // namespace robotoc
 
#endif // ROBOTOC_OCP_HPP_