time_invariant_constraint.h

/*
 * Copyright (c) 2020, The Regents of the University of California (Regents).
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 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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 * Please contact the author(s) of this library if you have any questions.
 * Authors: David Fridovich-Keil   ( dfk@eecs.berkeley.edu )
 */

///////////////////////////////////////////////////////////////////////////////
//
// Base class for all time-invariant explicit constraints.
//
///////////////////////////////////////////////////////////////////////////////

#ifndef ILQGAMES_CONSTRAINT_TIME_INVARIANT_CONSTRAINT_H
#define ILQGAMES_CONSTRAINT_TIME_INVARIANT_CONSTRAINT_H

#include <ilqgames/constraint/constraint.h>
#include <ilqgames/utils/types.h>

#include <glog/logging.h>
#include <memory>
#include <string>

namespace ilqgames {

class TimeInvariantConstraint : public Constraint {
 public:
  virtual ~TimeInvariantConstraint() {}

  // Evaluate this constraint value, i.e., g(x).
  virtual float Evaluate(const VectorXf& input) const = 0;
  float Evaluate(Time t, const VectorXf& input) const {
    return Evaluate(input);
  };

  // Quadraticize the constraint value and its square, each scaled by lambda or
  // mu, respectively (terms in the augmented Lagrangian).
  // NOTE: this is time-varying because time is used to select lambda.
  virtual void Quadraticize(Time t, const VectorXf& input, MatrixXf* hess,
                            VectorXf* grad) const = 0;

 protected:
  explicit TimeInvariantConstraint(bool is_equality, const std::string& name)
      : Constraint(is_equality, name) {}
};  // namespace TimeInvariantConstraint

}  // namespace ilqgames

#endif