equality-constraint.hpp

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#pragma once
 
#include "aligator/core/constraint-set.hpp"
 
namespace aligator {

template <typename _Scalar>
struct EqualityConstraintTpl : ConstraintSetTpl<_Scalar> {
public:
  using Scalar = _Scalar;
  ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);
 
  EqualityConstraintTpl() = default;
  EqualityConstraintTpl(const EqualityConstraintTpl &) = default;
  EqualityConstraintTpl &operator=(const EqualityConstraintTpl &) = default;
  EqualityConstraintTpl(EqualityConstraintTpl &&) = default;
  EqualityConstraintTpl &operator=(EqualityConstraintTpl &&) = default;
 
  using Base = ConstraintSetTpl<Scalar>;
  using ActiveType = typename Base::ActiveType;
 
  bool disableGaussNewton() const { return true; }
 
  inline void projection(const ConstVectorRef &, VectorRef zout) const {
    zout.setZero();
  }
 
  inline void normalConeProjection(const ConstVectorRef &z,
                                   VectorRef zout) const {
    zout = z;
  }
 
  inline void applyProjectionJacobian(const ConstVectorRef &,
                                      MatrixRef Jout) const {
    Jout.setZero();
  }
 
  inline void applyNormalConeProjectionJacobian(const ConstVectorRef &,
                                                MatrixRef) const {
    return; // do nothing
  }
 
  inline void computeActiveSet(const ConstVectorRef &,
                               Eigen::Ref<ActiveType> out) const {
    out.array() = true;
  }
};
 
} // namespace aligator