NewtonsMethodProjectable.hpp

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#ifndef AIKIDO_CONSTRAINT_NEWTONSMETHODPROJECTABLE_HPP_
#define AIKIDO_CONSTRAINT_NEWTONSMETHODPROJECTABLE_HPP_
 
#include <Eigen/Dense>
 
#include "aikido/constraint/Differentiable.hpp"
#include "aikido/constraint/Projectable.hpp"
 
namespace aikido {
namespace constraint {
 
class NewtonsMethodProjectable : public Projectable
{
public:
  NewtonsMethodProjectable(
      DifferentiablePtr _differentiable,
      std::vector<double> _tolerance,
      int _maxIteration = 1000,
      double _minStepSize = 1e-5);
 
  // Documentation inherited.
  bool project(
      const statespace::StateSpace::State* _s,
      statespace::StateSpace::State* _out) const override;
 
  // Documentation inherited.
  statespace::ConstStateSpacePtr getStateSpace() const override;
 
private:
  DifferentiablePtr mDifferentiable;
  std::vector<double> mTolerance;
  int mMaxIteration;
  double mMinStepSize;
  statespace::ConstStateSpacePtr mStateSpace;
 
  bool contains(const statespace::StateSpace::State* _s) const;
};
 
} // namespace constraint
} // namespace aikido
 
#endif