Projectable.hpp

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#ifndef AIKIDO_CONSTRAINT_PROJECTABLE_H
#define AIKIDO_CONSTRAINT_PROJECTABLE_H
 
#include <Eigen/Dense>
 
#include "aikido/statespace/StateSpace.hpp"
 
namespace aikido {
namespace constraint {
 
class Projectable
{
public:
  virtual ~Projectable() = default;
 
  virtual statespace::ConstStateSpacePtr getStateSpace() const = 0;
 
  virtual bool project(
      const statespace::StateSpace::State* _s,
      statespace::StateSpace::State* _out) const = 0;
 
  virtual bool project(statespace::StateSpace::State* _s) const;
};
 
using ProjectablePtr = std::shared_ptr<Projectable>;
 
} // namespace constraint
} // namespace aikido
 
#endif