scalar_bound_interval.h

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/*
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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 )
 */

//
// Class to specify an interval constraint on a scalar control variable.
//

#ifndef FASTRACK_CONTROL_SCALAR_BOUND_INTERVAL_H
#define FASTRACK_CONTROL_SCALAR_BOUND_INTERVAL_H

#include <fastrack/control/control_bound.h>

namespace fastrack {
namespace control {

class ScalarBoundInterval : public ControlBound<double> {
 public:
  ~ScalarBoundInterval() {}
  explicit ScalarBoundInterval(double min, double max) : min_(min), max_(max) {}

  // Assume 'params' is [min, max].
  explicit ScalarBoundInterval(const std::vector<double>& params)
      : min_(params[0]), max_(params[1]) {
    if (params.size() != 2)
      throw std::runtime_error("Incorrect number of parameters.");
  }

  // Accessors.
  double Min() const { return min_; }
  double Max() const { return max_; }

  // Custom definition of copy-assign operator.
  ScalarBoundInterval& operator=(const ScalarBoundInterval& other) {
    if (&other == this) return *this;

    min_ = other.min_;
    max_ = other.max_;
    return *this;
  }

  // Derived classes must be able to check whether a query is inside the bound.
  inline bool Contains(const double& query) const {
    return min_ <= query && query <= max_;
  }

  // Derived classes must be able to compute the projection of a vector
  // (represented as the templated type) onto the surface of the bound.
  // NOTE: We will treat this vector as emanating from the natural origin
  // of the bound so that it constitutes a meaningful direction with respect
  // to that origin.
  inline double ProjectToSurface(const double& query) const {
    return (query >= 0.0) ? max_ : min_;
  }

 private:
  // Min and max interval values.
  double min_, max_;
};  //\class ControlBound

}  // namespace control
}  // namespace fastrack

#endif