ocp_data.hpp

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#ifndef ROBOTOC_OCP_DATA_HPP_
#define ROBOTOC_OCP_DATA_HPP_
 
#include "robotoc/core/performance_index.hpp"
#include "robotoc/cost/cost_function_data.hpp"
#include "robotoc/constraints/constraints_data.hpp"
#include "robotoc/dynamics/state_equation_data.hpp"
#include "robotoc/dynamics/contact_dynamics_data.hpp"
#include "robotoc/dynamics/switching_constraint_data.hpp"
 
 
namespace robotoc {
 
struct OCPData {
  PerformanceIndex performance_index;
 
  CostFunctionData cost_data;
 
  ConstraintsData constraints_data;
 
  StateEquationData state_equation_data;
 
  ContactDynamicsData contact_dynamics_data;
 
  SwitchingConstraintData switching_constraint_data;
 
  template <int p=1>
  double primalFeasibility() const {
    double feasibility = 0;
    feasibility += constraints_data.template primalFeasibility<p>();
    feasibility += contact_dynamics_data.template primalFeasibility<p>();
    return feasibility;
  }
 
  template <int p=1>
  double dualFeasibility() const {
    double feasibility = 0;
    feasibility += constraints_data.template dualFeasibility<p>();
    feasibility += contact_dynamics_data.template dualFeasibility<p>();
    return feasibility;
  }
 
  double KKTError() const {
    double error = 0;
    error += contact_dynamics_data.KKTError();
    error += constraints_data.KKTError();
    return error;
  }
 
};
 
} // namespace robotoc
 
#endif // ROBOTOC_OCP_DATA_HPP_