linear_acceleration_max_magnitude_constraint.hpp

// Copyright (c) TrajoptLib contributors
 
#pragma once
 
#include <cassert>
 
#include <sleipnir/autodiff/variable.hpp>
#include <sleipnir/optimization/problem.hpp>
 
#include "trajopt/geometry/pose2.hpp"
#include "trajopt/geometry/translation2.hpp"
#include "trajopt/util/symbol_exports.hpp"
 
namespace trajopt {

class TRAJOPT_DLLEXPORT LinearAccelerationMaxMagnitudeConstraint {
 public:
  explicit LinearAccelerationMaxMagnitudeConstraint(double max_magnitude)
      : m_max_magnitude{max_magnitude} {
    assert(max_magnitude >= 0.0);
  }

  void apply(
      slp::Problem<double>& problem,
      [[maybe_unused]] const Pose2v<double>& pose,
      [[maybe_unused]] const Translation2v<double>& linear_velocity,
      [[maybe_unused]] const slp::Variable<double>& angular_velocity,
      const Translation2v<double>& linear_acceleration,
      [[maybe_unused]] const slp::Variable<double>& angular_acceleration) {
    if (m_max_magnitude == 0.0) {
      problem.subject_to(linear_acceleration.x() == 0.0);
      problem.subject_to(linear_acceleration.y() == 0.0);
    } else {
      problem.subject_to(linear_acceleration.squared_norm() <=
                         m_max_magnitude * m_max_magnitude);
    }
  }
 
 private:
  double m_max_magnitude;
};
 
}  // namespace trajopt