DifferentiableSubspace.hpp

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#ifndef AIKIDO_CONSTRAINT_DIFFERENTIABLESUBSPACE_HPP_
#define AIKIDO_CONSTRAINT_DIFFERENTIABLESUBSPACE_HPP_
 
#include "aikido/constraint/Differentiable.hpp"
#include "aikido/statespace/CartesianProduct.hpp"
 
namespace aikido {
namespace constraint {
 
class DifferentiableSubspace : public Differentiable
{
public:
  DifferentiableSubspace(
      std::shared_ptr<const statespace::CartesianProduct> _stateSpace,
      DifferentiablePtr _constraint,
      std::size_t _index);
 
  virtual ~DifferentiableSubspace() = default;
 
  // Documentation inherited.
  statespace::ConstStateSpacePtr getStateSpace() const override;
 
  // Documentation inherited.
  std::vector<ConstraintType> getConstraintTypes() const override;
 
  // 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.
  void getValueAndJacobian(
      const statespace::StateSpace::State* _s,
      Eigen::VectorXd& _val,
      Eigen::MatrixXd& _jac) const override;
 
private:
  std::shared_ptr<const statespace::CartesianProduct> mStateSpace;
  DifferentiablePtr mConstraint;
  std::size_t mIndex;
};
 
} // namespace constraint
} // namespace aikido
 
#endif // AIKIDO_CONSTRAINT_DIFFERENTIABLESUBSPACE_HPP_