topp2_ra.hpp

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#pragma once
 
#include <cstddef>
#include <vector>
 
#include "copp/core.hpp"
#include "copp/robot.hpp"
 
namespace copp::solver::topp2_ra
{

    struct Options
    {
        double lp_feas_tol = 1.0e-8;
        double a_cmp_abs_tol = 1.0e-8;
        double a_cmp_rel_tol = 1.0e-8;
        Verbosity verbosity = Verbosity::Silent;
    };

    struct ReachSet
    {
        std::vector<double> a_max;
        std::vector<double> a_min;
 
        std::size_t len() const noexcept { return a_max.size(); }
        bool empty() const noexcept { return a_max.empty(); }
    };

    class COPP_API Problem
    {
    public:
        Problem(
            ConstraintsRef constraints,
            IndexInterval idx_s_interval,
            Boundary2 a_boundary = {});
 
        ConstraintsRef constraints() const noexcept { return constraints_; }
        IndexInterval idx_s_interval() const noexcept { return idx_s_interval_; }
        Boundary2 a_boundary() const noexcept { return a_boundary_; }
        std::size_t s_len() const noexcept { return s_len_; }
 
    private:
        ConstraintsRef constraints_;
        IndexInterval idx_s_interval_;
        Boundary2 a_boundary_;
        std::size_t s_len_ = 0;
    };

    COPP_API ReachSet reach_set_backward(const Problem &problem, const Options &options = {});
    inline Expected<ReachSet> reach_set_backward(
        const Problem &problem,
        const Options &options,
        NoThrowTag)
    {
        return detail::expected_from([&] { return reach_set_backward(problem, options); });
    }
    inline Expected<ReachSet> reach_set_backward(const Problem &problem, NoThrowTag tag)
    {
        return reach_set_backward(problem, Options{}, tag);
    }

    COPP_API ReachSet reach_set_bidirectional(const Problem &problem, const Options &options = {});
    inline Expected<ReachSet> reach_set_bidirectional(
        const Problem &problem,
        const Options &options,
        NoThrowTag)
    {
        return detail::expected_from([&] { return reach_set_bidirectional(problem, options); });
    }
    inline Expected<ReachSet> reach_set_bidirectional(const Problem &problem, NoThrowTag tag)
    {
        return reach_set_bidirectional(problem, Options{}, tag);
    }

    COPP_API std::vector<double> solve(const Problem &problem, const Options &options = {});
    inline Expected<std::vector<double>> solve(
        const Problem &problem,
        const Options &options,
        NoThrowTag)
    {
        return detail::expected_from([&] { return solve(problem, options); });
    }
    inline Expected<std::vector<double>> solve(const Problem &problem, NoThrowTag tag)
    {
        return solve(problem, Options{}, tag);
    }
 
} // namespace copp::solver::topp2_ra