contact-map.hpp

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#pragma once
 
#include "aligator/fwd.hpp"
 
namespace aligator {
 
template <typename _Scalar> struct ContactMapTpl {
  using Scalar = _Scalar;
  ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);
  using PoseVec = StdVectorEigenAligned<Vector3s>;
 
  ContactMapTpl(const std::vector<std::string> &contact_names,
                const std::vector<bool> &contact_states,
                const PoseVec &contact_poses)
      : contact_names_(contact_names), contact_states_(contact_states),
        contact_poses_(contact_poses) {
    if (contact_states.size() != contact_poses.size()) {
      ALIGATOR_DOMAIN_ERROR(
          fmt::format("contact_states and contact_poses should have same size, "
                      "currently ({} and {}).",
                      contact_states.size(), contact_poses.size()));
    }
    size_ = contact_states_.size();
  }
 
  void addContact(const std::string &name, const bool state,
                  const Vector3s &pose) {
    contact_names_.push_back(name);
    contact_states_.push_back(state);
    contact_poses_.push_back(pose);
    size_ += 1;
  }
 
  void removeContact(const size_t i) {
    if (size_ == 0) {
      ALIGATOR_RUNTIME_ERROR("ContactMap is empty!");
    } else {
      contact_names_.erase(contact_names_.begin() + long(i));
      contact_states_.erase(contact_states_.begin() + long(i));
      contact_poses_.erase(contact_poses_.begin() + long(i));
      size_ -= 1;
    }
  }
 
  bool getContactState(const std::string &name) const {
    auto id = std::find(contact_names_.begin(), contact_names_.end(), name);
    if (id == contact_names_.end()) {
      ALIGATOR_RUNTIME_ERROR("Contact name does not exist in this map!");
    }
 
    return contact_states_[id - contact_names_.begin()];
  }
 
  const Vector3s &getContactPose(const std::string &name) const {
    auto id = std::find(contact_names_.begin(), contact_names_.end(), name);
    if (id == contact_names_.end()) {
      ALIGATOR_RUNTIME_ERROR("Contact name does not exist in this map!");
    }
 
    return contact_poses_[id - contact_names_.begin()];
  }
 
  void setContactPose(const std::string &name, const Vector3s &ref) {
    auto id = std::find(contact_names_.begin(), contact_names_.end(), name);
    if (id == contact_names_.end()) {
      ALIGATOR_RUNTIME_ERROR("Contact name does not exist in this map!");
    }
 
    contact_poses_[id - contact_names_.begin()] = ref;
  }
 
  std::vector<std::string> contact_names_;
  std::vector<bool> contact_states_;
  PoseVec contact_poses_;
  std::size_t size_;
};
 
} // namespace aligator