ConstraintSet.h

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/*
 * Copyright 2015-2022 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_solver/QPSolver.h>
 
#include <memory>
 
namespace mc_solver
{
 
struct MC_SOLVER_DLLAPI ConstraintSet
{
  ConstraintSet();
 
  void addToSolver(mc_solver::QPSolver & solver);
 
  virtual void update(QPSolver &) {}
 
  void removeFromSolver(mc_solver::QPSolver & solver);
 
  virtual ~ConstraintSet() {}
 
  inline bool inSolver() const noexcept { return inSolver_; }
 
  inline QPSolver::Backend backend() const noexcept { return backend_; }
 
protected:
  virtual void addToSolverImpl(mc_solver::QPSolver & solver) = 0;
 
  virtual void removeFromSolverImpl(mc_solver::QPSolver & solver) = 0;
 
  QPSolver::Backend backend_;
 
  bool inSolver_ = false;
 
private:
  // Forbid copy of ConstraintSet objects
  ConstraintSet(const ConstraintSet &) = delete;
  ConstraintSet & operator=(const ConstraintSet &) = delete;
  // Move is ok
  ConstraintSet(ConstraintSet &&) = default;
  ConstraintSet & operator=(ConstraintSet &&) = default;
};
 
using ConstraintSetPtr = std::shared_ptr<ConstraintSet>;
 
} // namespace mc_solver