constraint.hpp

Go to the documentation of this file.

#pragma once
 
#include "aligator/core/function-abstract.hpp"
 
#include "aligator/third-party/polymorphic_cxx14.h"
 
namespace aligator {

template <typename Scalar> struct ALIGATOR_DEPRECATED StageConstraintTpl {
  xyz::polymorphic<StageFunctionTpl<Scalar>> func;
  xyz::polymorphic<ConstraintSetTpl<Scalar>> set;
};

template <typename Scalar> struct ConstraintStackTpl {
  ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);
  using PolyFunc = xyz::polymorphic<StageFunctionTpl<Scalar>>;
  using PolySet = xyz::polymorphic<ConstraintSetTpl<Scalar>>;
 
  ConstraintStackTpl()
      : indices_({0}) {};
  ConstraintStackTpl(const ConstraintStackTpl &) = default;
  ConstraintStackTpl &operator=(const ConstraintStackTpl &) = default;
  ConstraintStackTpl(ConstraintStackTpl &&) = default;
  ConstraintStackTpl &operator=(ConstraintStackTpl &&) = default;
 
  std::size_t size() const { return funcs.size(); }
  bool empty() const { return size() == 0; }
  void clear();
 
  template <typename Cstr> ALIGATOR_DEPRECATED void pushBack(Cstr &&el) {
    assert(!el.func.valueless_after_move() &&
           "constraint must have non-null underlying function.");
    assert(!el.set.valueless_after_move() &&
           "constraint must have non-null underlying set.");
    funcs.emplace_back(el.func);
    sets.emplace_back(el.set);
    addDim(el.func->nr);
  }
 
  void pushBack(const PolyFunc &func, const PolySet &cstr_set) {
    assert(!func.valueless_after_move() &&
           "constraint must have non-null underlying function.");
    assert(!cstr_set.valueless_after_move() &&
           "constraint must have non-null underlying set.");
    funcs.emplace_back(func);
    sets.emplace_back(cstr_set);
    addDim(func->nr);
  }

  const std::vector<long> &dims() const { return dims_; }
 
  long totalDim() const { return total_dim_; }

  template <typename Derived> Derived *getConstraint(const size_t id) {
    return dynamic_cast<Derived *>(&*funcs[id]);
  }

  template <typename Derived>
  const Derived *getConstraint(const size_t id) const {
    return dynamic_cast<const Derived *>(&*funcs[id]);
  }
 
  std::vector<PolyFunc> funcs;
  std::vector<PolySet> sets;
 
protected:
  std::vector<long> indices_;
  std::vector<long> dims_;
  long total_dim_ = 0;
 
private:
  void addDim(const long nr) {
    const long last_cursor = indices_.back();
    indices_.push_back(last_cursor + nr);
    dims_.push_back(nr);
    total_dim_ += nr;
  }
};
 
template <typename Scalar> void ConstraintStackTpl<Scalar>::clear() {
  funcs.clear();
  sets.clear();
  indices_ = {0};
  dims_.clear();
  total_dim_ = 0;
}
 
} // namespace aligator
 
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
#include "aligator/core/constraint.txx"
#endif