DifferentiableIntersection.hpp

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#ifndef AIKIDO_CONSTRAINT_DIFFERENTIABLEINTERSECTION_HPP_
#define AIKIDO_CONSTRAINT_DIFFERENTIABLEINTERSECTION_HPP_
 
#include <memory>
 
#include <Eigen/Dense>
 
#include "aikido/constraint/Differentiable.hpp"
#include "aikido/statespace/StateSpace.hpp"
 
namespace aikido {
namespace constraint {
 
class DifferentiableIntersection : public Differentiable
{
public:
  DifferentiableIntersection(
      std::vector<DifferentiablePtr> _constraints,
      statespace::ConstStateSpacePtr _stateSpace);
 
  // Documentation inherited.
  std::size_t getConstraintDimension() const override;
 
  // Documentation inherited.
  void getValue(const statespace::StateSpace::State* _s, Eigen::VectorXd& _out)
      const override;
 
  // Documentation inherited.
  void getJacobian(
      const statespace::StateSpace::State* _s,
      Eigen::MatrixXd& _out) const override;
 
  // Documentation inherited.
  std::vector<ConstraintType> getConstraintTypes() const override;
 
  // Documentation inherited.
  statespace::ConstStateSpacePtr getStateSpace() const override;
 
  // Documentation inherited.
  void getValueAndJacobian(
      const statespace::StateSpace::State* _s,
      Eigen::VectorXd& _val,
      Eigen::MatrixXd& _jac) const override;
 
private:
  std::vector<DifferentiablePtr> mConstraints;
  statespace::ConstStateSpacePtr mStateSpace;
};
 
} // namespace constraint
} // namespace aikido
 
#endif