sto_cost_function_component_base.hpp

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#ifndef ROBOTOC_STO_COST_FUNCTION_COMPONENT_BASE_HPP_
#define ROBOTOC_STO_COST_FUNCTION_COMPONENT_BASE_HPP_
 
#include <memory>
#include <stdexcept>
 
#include "Eigen/Core"
 
#include "robotoc/ocp/time_discretization.hpp"
 
 
namespace robotoc {
 
class STOCostFunctionComponentBase : public std::enable_shared_from_this<STOCostFunctionComponentBase> {
public:
  STOCostFunctionComponentBase() {}
 
  virtual ~STOCostFunctionComponentBase() {}
 
  STOCostFunctionComponentBase(const STOCostFunctionComponentBase&) = default;
 
  STOCostFunctionComponentBase& operator=(
      const STOCostFunctionComponentBase&) = default;
 
  STOCostFunctionComponentBase(
      STOCostFunctionComponentBase&&) noexcept = default;
 
  STOCostFunctionComponentBase& operator=(
      STOCostFunctionComponentBase&&) noexcept = default;
 
  virtual double evalCost(const TimeDiscretization& time_discretization) const = 0;
 
  virtual void evalCostDerivatives(const TimeDiscretization& time_discretization,
                                   Eigen::VectorXd& lt) const = 0;
 
  virtual void evalCostHessian(const TimeDiscretization& time_discretization,
                               Eigen::MatrixXd& Qtt) const = 0;
 
  template <typename Derived>
  std::shared_ptr<Derived> as_shared_ptr() {
    auto ptr = shared_from_this();
    auto derived_ptr = std::dynamic_pointer_cast<Derived>(ptr);
    if (derived_ptr == nullptr) {
      throw std::runtime_error("[STOCostFunctionComponentBase] runtime error: failed in down-casting!");
    }
    return derived_ptr;
  }
 
};
 
} // namespace robotoc
 
#endif // ROBOTOC_STO_COST_FUNCTION_COMPONENT_BASE_HPP_