time_indexed_sampling_problem.h

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#ifndef EXOTICA_CORE_TIME_INDEXED_SAMPLING_PROBLEM_H_
#define EXOTICA_CORE_TIME_INDEXED_SAMPLING_PROBLEM_H_
 
#include <exotica_core/planning_problem.h>
#include <exotica_core/tasks.h>
 
#include <exotica_core/time_indexed_sampling_problem_initializer.h>
 
namespace exotica
{
class TimeIndexedSamplingProblem : public PlanningProblem, public Instantiable<TimeIndexedSamplingProblemInitializer>
{
public:
    TimeIndexedSamplingProblem();
    virtual ~TimeIndexedSamplingProblem();
 
    void Instantiate(const TimeIndexedSamplingProblemInitializer& init) override;
 
    void Update(Eigen::VectorXdRefConst x, const double& t);
    using PlanningProblem::IsValid;
    bool IsValid(Eigen::VectorXdRefConst x, const double& t);  // Not overriding on purpose
    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();
 
    Eigen::VectorXd GetGoalState() const;
    void SetGoalState(Eigen::VectorXdRefConst qT);
 
    double GetGoalTime() const;
    void SetGoalTime(const double& t);
 
    Eigen::VectorXd vel_limits;
    TaskSpaceVector Phi;
    SamplingTask inequality;
    SamplingTask equality;
    TimeIndexedSamplingProblemInitializer parameters;
    TaskSpaceVector constraint_phi;
 
    int length_Phi;
    int length_jacobian;
    int num_tasks;
 
private:
    double t_goal_;         
    Eigen::VectorXd goal_;  
};
 
typedef std::shared_ptr<exotica::TimeIndexedSamplingProblem> TimeIndexedSamplingProblemPtr;
}  // namespace exotica
 
#endif  // EXOTICA_CORE_TIME_INDEXED_SAMPLING_PROBLEM_H_