body2dgraph.h

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#ifndef GCOP_BODY2DGRAPH_H
#define GCOP_BODY2DGRAPH_H

#include <Eigen/Dense>
#include <vector>
#include <type_traits>
#include "body2d.h"

namespace gcop {
  
  using namespace std;
  using namespace Eigen;
  
  class Body2dGraph {
  public:
    
    Body2dGraph(Body2d<> &sys, int N, int nf, 
                bool odometry = true, 
                bool extforce = false,
                bool forces = false);

    void Optp(VectorXd &p, const vector<Body2dState> &xs);

    static void Synthesize(Body2dGraph &pgt, Body2dGraph &pgn, double tf);

    static void Synthesize2(Body2dGraph &pgt, Body2dGraph &pgn, double tf);

    static void Synthesize3(Body2dGraph &pgt, Body2dGraph &pgn, double tf);

    Body2d<> &sys;     

    bool odometry;         
    
    bool extforce;         

    bool forces;         

    Vector3d  fext;      
    
    vector<double> ts;     

    vector<Body2dState>  xs;      

    vector<Vector3d> us;   

    VectorXd p;            

    vector< vector<pair<int, Vector2d> > > Is;  

    vector< vector<pair<int, Vector2d> > > Js;  
        
    vector<Vector3d> vs;   

    double cp;             

    Vector3d cv;           

    Vector3d cw;           

  };
}

#endif