Bounds.h

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/*
 * Copyright 2012-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
// includes
// std
#include <utility>
#include <vector>
 
// Eigen
#include <Eigen/Core>
 
namespace tasks
{
 
struct QBound
{
  QBound() {}
  QBound(std::vector<std::vector<double>> lQB, std::vector<std::vector<double>> uQB)
  : lQBound(std::move(lQB)), uQBound(std::move(uQB))
  {
  }
 
  std::vector<std::vector<double>> lQBound;
  std::vector<std::vector<double>> uQBound;
};
 
struct AlphaBound
{
  AlphaBound() {}
  AlphaBound(std::vector<std::vector<double>> lAB, std::vector<std::vector<double>> uAB)
  : lAlphaBound(std::move(lAB)), uAlphaBound(std::move(uAB))
  {
  }
 
  std::vector<std::vector<double>> lAlphaBound;
  std::vector<std::vector<double>> uAlphaBound;
};
 
struct AlphaDBound
{
  AlphaDBound() {}
  AlphaDBound(std::vector<std::vector<double>> lADB, std::vector<std::vector<double>> uADB)
  : lAlphaDBound(std::move(lADB)), uAlphaDBound(std::move(uADB))
  {
  }
 
  std::vector<std::vector<double>> lAlphaDBound;
  std::vector<std::vector<double>> uAlphaDBound;
};
 
struct AlphaDDBound
{
  AlphaDDBound() {}
  AlphaDDBound(std::vector<std::vector<double>> lADDB, std::vector<std::vector<double>> uADDB)
  : lAlphaDDBound(std::move(lADDB)), uAlphaDDBound(std::move(uADDB))
  {
  }
 
  std::vector<std::vector<double>> lAlphaDDBound;
  std::vector<std::vector<double>> uAlphaDDBound;
};
 
struct TorqueBound
{
  TorqueBound() {}
  TorqueBound(std::vector<std::vector<double>> lTB, std::vector<std::vector<double>> uTB)
  : lTorqueBound(std::move(lTB)), uTorqueBound(std::move(uTB))
  {
  }
 
  std::vector<std::vector<double>> lTorqueBound;
  std::vector<std::vector<double>> uTorqueBound;
};
 
struct TorqueDBound
{
  TorqueDBound() {}
  TorqueDBound(std::vector<std::vector<double>> lTDB, std::vector<std::vector<double>> uTDB)
  : lTorqueDBound(std::move(lTDB)), uTorqueDBound(std::move(uTDB))
  {
  }
 
  std::vector<std::vector<double>> lTorqueDBound;
  std::vector<std::vector<double>> uTorqueDBound;
};
 
struct PolyTorqueBound
{
  PolyTorqueBound() {}
  PolyTorqueBound(std::vector<std::vector<Eigen::VectorXd>> lPTB, std::vector<std::vector<Eigen::VectorXd>> uPTB)
  : lPolyTorqueBound(std::move(lPTB)), uPolyTorqueBound(std::move(uPTB))
  {
  }
 
  std::vector<std::vector<Eigen::VectorXd>> lPolyTorqueBound;
  std::vector<std::vector<Eigen::VectorXd>> uPolyTorqueBound;
};
 
} // namespace tasks