SE2BoxConstraint.hpp

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#ifndef AIKIDO_CONSTRAINT_UNIFORM_SE2BOXCONSTRAINT_HPP_
#define AIKIDO_CONSTRAINT_UNIFORM_SE2BOXCONSTRAINT_HPP_
 
#include "aikido/constraint/Differentiable.hpp"
#include "aikido/constraint/Projectable.hpp"
#include "aikido/constraint/Sampleable.hpp"
#include "aikido/constraint/Testable.hpp"
#include "aikido/statespace/SE2.hpp"
 
namespace aikido {
namespace constraint {
namespace uniform {
 
class SE2BoxConstraint
  : public constraint::Projectable
  , public constraint::Sampleable
  , public constraint::Testable
{
public:
  using constraint::Projectable::project;
 
  SE2BoxConstraint(
      std::shared_ptr<const statespace::SE2> space,
      std::unique_ptr<common::RNG> rng,
      const Eigen::Vector2d& lowerLimits,
      const Eigen::Vector2d& upperLimits);
 
  // Documentation inherited.
  statespace::ConstStateSpacePtr getStateSpace() const override;
 
  bool isSatisfied(
      const statespace::StateSpace::State* state,
      TestableOutcome* outcome = nullptr) const override;
 
  std::unique_ptr<TestableOutcome> createOutcome() const override;
 
  // Documentation inherited.
  bool project(
      const statespace::StateSpace::State* s,
      statespace::StateSpace::State* out) const override;
 
  // Documentation inherited.
  std::unique_ptr<constraint::SampleGenerator> createSampleGenerator()
      const override;
 
  Eigen::Vector2d getLowerLimits() const;
 
  Eigen::Vector2d getUpperLimits() const;
 
private:
  std::shared_ptr<const statespace::SE2> mSpace;
 
  std::unique_ptr<common::RNG> mRng;
 
  Eigen::Vector3d mLowerLimits;
 
  Eigen::Vector3d mUpperLimits;
 
  // DOFs of joint that have limits, in this case translational DOFs.
  // TODO: Confirm this with Gilwoo
  std::size_t mRnDimension;
 
  // DOF of the joint
  std::size_t mDimension;
};
 
} // namespace uniform
} // namespace constraint
} // namespace aikido
 
#endif // AIKIDO_CONSTRAINT_UNIFORM_SE2BOXCONSTRAINT_HPP_