switching_constraint_data.hpp

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#ifndef ROBOTOC_SWITCHING_CONSTRAINT_DATA_HPP_ 
#define ROBOTOC_SWITCHING_CONSTRAINT_DATA_HPP_
 
#include "robotoc/robot/robot.hpp"
 
 
namespace robotoc {
 
class SwitchingConstraintData {
public:
  SwitchingConstraintData(const Robot& robot);
 
  SwitchingConstraintData();
 
  ~SwitchingConstraintData() = default;
 
  SwitchingConstraintData(const SwitchingConstraintData&) = default;
 
  SwitchingConstraintData& operator=(const SwitchingConstraintData&) = default;
 
  SwitchingConstraintData(SwitchingConstraintData&&) noexcept = default;
 
  SwitchingConstraintData& operator=(SwitchingConstraintData&&) noexcept = default;
 
  void setDimension(const int dims) {
    assert(dims >= 0);
    dims_ = dims;
  }
 
  Eigen::VectorXd q;
 
  Eigen::VectorXd dq;
 
  Eigen::VectorXd PqT_xi;
 
  Eigen::Block<Eigen::MatrixXd> Pq() { 
    return Pq_full_.topLeftCorner(dims_, dimv_); 
  }
 
  const Eigen::Block<const Eigen::MatrixXd> Pq() const {
    return Pq_full_.topLeftCorner(dims_, dimv_); 
  }
 
  int dims() const { return dims_; }
 
private:
  Eigen::MatrixXd Pq_full_;
  int dimv_, dims_;
};
 
} // namespace robotoc
 
#endif // ROBOTOC_SWITCHING_CONSTRAINT_DATA_HPP_