Satisfied.hpp

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#ifndef AIKIDO_CONSTRAINT_SATISFIED_HPP_
#define AIKIDO_CONSTRAINT_SATISFIED_HPP_
#include "aikido/constraint/Differentiable.hpp"
#include "aikido/constraint/Projectable.hpp"
#include "aikido/constraint/Sampleable.hpp"
#include "aikido/constraint/Testable.hpp"
 
namespace aikido {
namespace constraint {
 
class Satisfied
  : public constraint::Differentiable
  , public constraint::Projectable
  , public constraint::Testable
{
public:
  using Differentiable::getValueAndJacobian;
 
  explicit Satisfied(statespace::ConstStateSpacePtr _space);
 
  // Documentation inherited.
  statespace::ConstStateSpacePtr getStateSpace() const override;
 
  std::size_t getConstraintDimension() const override;
 
  std::vector<constraint::ConstraintType> getConstraintTypes() const override;
 
  bool isSatisfied(
      const statespace::StateSpace::State* state,
      TestableOutcome* outcome = nullptr) const override;
 
  std::unique_ptr<TestableOutcome> createOutcome() const override;
 
  bool project(
      const statespace::StateSpace::State* _s,
      statespace::StateSpace::State* _out) const override;
 
  void getValue(const statespace::StateSpace::State* _s, Eigen::VectorXd& _out)
      const override;
 
  void getJacobian(
      const statespace::StateSpace::State* _s,
      Eigen::MatrixXd& _out) const override;
 
private:
  statespace::ConstStateSpacePtr mStateSpace;
};
 
} // namespace constraint
} // namespace aikido
 
#endif // ifndef AIKIDO_CONSTRAINT_SATISFIED_HPP_