translation_equality_constraint.hpp

// Copyright (c) TrajoptLib contributors
 
#pragma once
 
#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 TranslationEqualityConstraint {
 public:
  explicit TranslationEqualityConstraint(const Translation2d& translation)
      : m_translation{translation} {}

  void apply(
      slp::Problem<double>& problem, const Pose2v<double>& pose,
      [[maybe_unused]] const Translation2v<double>& linear_velocity,
      [[maybe_unused]] const slp::Variable<double>& angular_velocity,
      [[maybe_unused]] const Translation2v<double>& linear_acceleration,
      [[maybe_unused]] const slp::Variable<double>& angular_acceleration) {
    problem.subject_to(pose.translation() == m_translation);
  }
 
 private:
  trajopt::Translation2d m_translation;
};
 
}  // namespace trajopt