Differentiable.hpp

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#ifndef AIKIDO_CONSTRAINT_DIFFERENTIABLE_HPP_
#define AIKIDO_CONSTRAINT_DIFFERENTIABLE_HPP_
 
#include <memory>
 
#include <Eigen/Dense>
 
#include "aikido/common/pointers.hpp"
#include "aikido/statespace/StateSpace.hpp"
 
namespace aikido {
namespace constraint {
 
AIKIDO_DECLARE_POINTERS(Differentiable)
 
enum class ConstraintType
{
  EQUALITY,
  INEQUALITY
};
 
class Differentiable
{
public:
  virtual ~Differentiable() = default;
 
  virtual statespace::ConstStateSpacePtr getStateSpace() const = 0;
 
  virtual std::vector<ConstraintType> getConstraintTypes() const = 0;
 
  virtual std::size_t getConstraintDimension() const = 0;
 
  virtual void getValue(
      const statespace::StateSpace::State* _s, Eigen::VectorXd& _out) const = 0;
 
  virtual void getJacobian(
      const statespace::StateSpace::State* _s, Eigen::MatrixXd& _out) const = 0;
 
  virtual void getValueAndJacobian(
      const statespace::StateSpace::State* _s,
      Eigen::VectorXd& _val,
      Eigen::MatrixXd& _jac) const;
};
 
} // namespace constraint
} // namespace aikido
 
#endif