control_bound.h

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/*
 * Copyright (c) 2018, The Regents of the University of California (Regents).
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 *    2. Redistributions in binary form must reproduce the above
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 *       from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS AS IS
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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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 )
 */

//
// Abstract class specifying generic control bounds. Examples include spheres,
// boxes, and cylinders.
//

#ifndef FASTRACK_CONTROL_CONTROL_BOUND_H
#define FASTRACK_CONTROL_CONTROL_BOUND_H

#include <fastrack/utils/types.h>

namespace fastrack {
namespace control {

template <typename C> class ControlBound {
public:
  virtual ~ControlBound() {}

  // Derived classes must be able to check whether a query is inside the bound.
  virtual bool Contains(const C &query) const = 0;

  // Derived classes must be able to compute the projection of a vector
  // (represented as the templated type) onto the surface of the bound.
  // NOTE: this is basically solving an LP with the bound as the feasible
  // set and the query as the coefficients.
  virtual C ProjectToSurface(const C &query) const = 0;

protected:
  explicit ControlBound() {}
}; //\class ControlBound

} // namespace control
} // namespace fastrack

#endif