LinearizedCoulombFunction.h

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#ifndef _OCRABASE_LINEARIZED_COULOMB_FUNCTION_H
#define _OCRABASE_LINEARIZED_COULOMB_FUNCTION_H

// ocra includes
#include "ocra/optim/LinearFunction.h"

namespace ocra
{
  class LinearizedCoulombFunction : public LinearFunction
  {
    // ------------------------ structures --------------------------------------
  public:
    typedef LinearFunction  functionType_t;     //< alias on the type of the mother class. Needed to duplicate the function tree.
  
    // ------------------------ constructors ------------------------------------
  private:
    LinearizedCoulombFunction(const LinearizedCoulombFunction&);
    LinearizedCoulombFunction& operator= (const LinearizedCoulombFunction&);

  public:
    LinearizedCoulombFunction(Variable& f, double frictionCoeff, int numberOfFaces=4, double margin=0);

    // ------------------------ public interface --------------------------------
  public:
    double  getFrictionCoeff() const;
    double  getMargin() const;
    void    setFrictionCoeff(double coeff);
    void    setMargin(double margin);
    void              setConeOrientation(const Matrix3d& R);
    const Matrix3d&   getConeOrientation() const;

    // ------------------------ private methods ---------------------------------
  private:
    void buildA();
    void buildb();

    // ------------------------ private static methods --------------------------
  private:
    static void checkCoeff(double mu);

    // ------------------------ protected members -------------------------------
  protected:
    double _mu;       //< the friction coefficient
    double _margin;   //< margin on the cone. Positive means tighter
    Matrix3d _R_cone;     //< orientation of the cone
    MatrixXd _J_cache;

    // ------------------------ protected static members ------------------------
  protected:
    static const double ANGLE_OFFSET;    //< offset for the orientation of the plane
  };

  void testLinearCoulomb(void);
}

#endif  //_OCRABASE_LINEARIZED_COULOMB_FUNCTION_H

// cmake:sourcegroup=Function