split_constrained_riccati_factorization.hpp

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#ifndef ROBOTOC_SPLIT_CONSTRAINTED_RICCATI_FACTORIZATION_HPP_ 
#define ROBOTOC_SPLIT_CONSTRAINTED_RICCATI_FACTORIZATION_HPP_
 
#include <vector>
 
#include "Eigen/Core"
 
#include "robotoc/robot/robot.hpp"
#include "robotoc/robot/impact_status.hpp"
 
namespace robotoc {
 
class SplitConstrainedRiccatiFactorization {
public:
  SplitConstrainedRiccatiFactorization(const Robot& robot);
 
  SplitConstrainedRiccatiFactorization();
 
  ~SplitConstrainedRiccatiFactorization();
 
  SplitConstrainedRiccatiFactorization(
      const SplitConstrainedRiccatiFactorization&) = default;
 
  SplitConstrainedRiccatiFactorization& operator=(
      const SplitConstrainedRiccatiFactorization&) = default;
 
  SplitConstrainedRiccatiFactorization(
      SplitConstrainedRiccatiFactorization&&) noexcept = default;
 
  SplitConstrainedRiccatiFactorization& operator=(
      SplitConstrainedRiccatiFactorization&&) noexcept = default;
 
  void setConstraintDimension(const int dimi=0);
 
  int dims() const;
 
  Eigen::Block<Eigen::MatrixXd> DGinv();
 
  const Eigen::Block<const Eigen::MatrixXd> DGinv() const; 
 
  Eigen::Block<Eigen::MatrixXd> S();
 
  const Eigen::Block<const Eigen::MatrixXd> S() const;
 
  Eigen::Block<Eigen::MatrixXd> Sinv();
 
  const Eigen::Block<const Eigen::MatrixXd> Sinv() const;
 
  Eigen::Block<Eigen::MatrixXd> SinvDGinv();
 
  const Eigen::Block<const Eigen::MatrixXd> SinvDGinv() const; 
 
  Eigen::MatrixXd Ginv;
 
  Eigen::MatrixXd DtM;
 
  Eigen::MatrixXd KtDtM;
 
  bool isApprox(const SplitConstrainedRiccatiFactorization& other) const;
 
  bool hasNaN() const;
 
  void disp(std::ostream& os) const;
 
  friend std::ostream& operator<<(
      std::ostream& os, const SplitConstrainedRiccatiFactorization& c_riccati);
 
private:
  Eigen::MatrixXd DGinv_full_, S_full_, Sinv_full_, SinvDGinv_full_;
  int dimv_, dimx_, dimu_, dims_;
 
};
 
} // namespace robotoc
 
#include "robotoc/riccati/split_constrained_riccati_factorization.hxx"
 
#endif // ROBOTOC_SPLIT_CONSTRAINTED_RICCATI_FACTORIZATION_HPP_