LinearizedProblemComputationData.h

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/* Copyright 2017-2020 CNRS-AIST JRL and CNRS-UM LIRMM */
 
#pragma once
 
#include <tvm/LinearizedControlProblem.h>
#include <tvm/scheme/internal/ProblemComputationData.h>
#include <tvm/utils/internal/map.h>
 
namespace tvm::scheme::internal
{
class LinearizedProblemComputationData : public ProblemComputationData
{
public:
  void addConstraint(const TaskWithRequirements & tr, const LinearConstraintWithRequirements & c)
  {
    assert(task2Constraint_.find(&tr) == task2Constraint_.end());
    task2Constraint_[&tr] = c;
  }
 
  void removeConstraint(const TaskWithRequirements & tr) { task2Constraint_.erase(&tr); }
 
  void addConstraints(
      const tvm::utils::internal::map<TaskWithRequirements const *, LinearConstraintWithRequirements> & map)
  { task2Constraint_.insert(map.begin(), map.end()); }
 
  const LinearConstraintWithRequirements & constraint(const TaskWithRequirements & tr) const
  { return task2Constraint_.at(&tr); }
 
  std::optional<std::reference_wrapper<const LinearConstraintWithRequirements>> constraintNoThrow(
      const TaskWithRequirements & tr) const
  {
    auto it = task2Constraint_.find(&tr);
    if(it != task2Constraint_.end())
      return it->second;
    else
      return {};
  }
 
protected:
  LinearizedProblemComputationData(int solverId) : ProblemComputationData(solverId) {}
 
  void reset()
  {
    task2Constraint_.clear();
    clearEvents();
    clearVariables();
  }
 
private:
  tvm::utils::internal::map<TaskWithRequirements const *, LinearConstraintWithRequirements> task2Constraint_;
};
} // namespace tvm::scheme::internal