affine_constraint.h

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/******************************************************************************
 * Copyright 2017 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#pragma once
 
#include "Eigen/Core"
 
#include "modules/planning/planning_base/math/polynomial_xd.h"
 
namespace apollo {
namespace planning {
 
class AffineConstraint {
 public:
  AffineConstraint() = default;
  explicit AffineConstraint(const bool is_equality);
  AffineConstraint(const Eigen::MatrixXd& constraint_matrix,
                   const Eigen::MatrixXd& constraint_boundary,
                   const bool is_equality);
 
  void SetIsEquality(const double is_equality);
 
  const Eigen::MatrixXd& constraint_matrix() const;
  const Eigen::MatrixXd& constraint_boundary() const;
  bool AddConstraint(const Eigen::MatrixXd& constraint_matrix,
                     const Eigen::MatrixXd& constraint_boundary);
 
 private:
  Eigen::MatrixXd constraint_matrix_;
  Eigen::MatrixXd constraint_boundary_;
  bool is_equality_ = true;
};
 
}  // namespace planning
}  // namespace apollo