sampling_problem.h

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#ifndef EXOTICA_CORE_SAMPLING_PROBLEM_H_
#define EXOTICA_CORE_SAMPLING_PROBLEM_H_
 
#include <exotica_core/planning_problem.h>
#include <exotica_core/tasks.h>
 
#include <exotica_core/sampling_problem_initializer.h>
 
namespace exotica
{
class SamplingProblem : public PlanningProblem, public Instantiable<SamplingProblemInitializer>
{
public:
    SamplingProblem();
    virtual ~SamplingProblem();
 
    void Instantiate(const SamplingProblemInitializer& init) override;
 
    void Update(Eigen::VectorXdRefConst x);
    bool IsStateValid(Eigen::VectorXdRefConst x);
    bool IsValid() override;
    void PreUpdate() override;
 
    int GetSpaceDim();
 
    void SetGoalEQ(const std::string& task_name, Eigen::VectorXdRefConst goal);
    Eigen::VectorXd GetGoalEQ(const std::string& task_name);
    void SetRhoEQ(const std::string& task_name, const double& rho);
    double GetRhoEQ(const std::string& task_name);
 
    void SetGoalNEQ(const std::string& task_name, Eigen::VectorXdRefConst goal);
    Eigen::VectorXd GetGoalNEQ(const std::string& task_name);
    void SetRhoNEQ(const std::string& task_name, const double& rho);
    double GetRhoNEQ(const std::string& task_name);
 
    std::vector<double> GetBounds();  // TODO: Upgrade to Eigen::MatrixXd
    bool IsCompoundStateSpace();
 
    void SetGoalState(Eigen::VectorXdRefConst qT);
    const Eigen::VectorXd& GetGoalState() const { return goal_; }
    TaskSpaceVector Phi;
    SamplingTask inequality;
    SamplingTask equality;
 
    int length_Phi;
    int length_jacobian;
    int num_tasks;
 
private:
    Eigen::VectorXd goal_;
    bool compound_;
};
 
typedef std::shared_ptr<exotica::SamplingProblem> SamplingProblemPtr;
}  // namespace exotica
 
#endif  // EXOTICA_CORE_SAMPLING_PROBLEM_H_