frc971/control_loops/coerce_goal.h

#ifndef FRC971_CONTROL_LOOPS_COERCE_GOAL_H_
#define FRC971_CONTROL_LOOPS_COERCE_GOAL_H_

#include "Eigen/Dense"

#include "aos/common/controls/polytope.h"

namespace frc971 {
namespace control_loops {

Eigen::Matrix<double, 2, 1> DoCoerceGoal(const aos::controls::HPolytope<2> &region,
                                         const Eigen::Matrix<double, 1, 2> &K,
                                         double w,
                                         const Eigen::Matrix<double, 2, 1> &R,
                                         bool *is_inside);

// Intersects a line with a region, and finds the closest point to R.
// Finds a point that is closest to R inside the region, and on the line
// defined by K X = w.  If it is not possible to find a point on the line,
// finds a point that is inside the region and closest to the line.
static inline Eigen::Matrix<double, 2, 1>
    CoerceGoal(const aos::controls::HPolytope<2> &region,
               const Eigen::Matrix<double, 1, 2> &K,
               double w,
               const Eigen::Matrix<double, 2, 1> &R) {
  return DoCoerceGoal(region, K, w, R, nullptr);
}

}  // namespace control_loops
}  // namespace frc971

#endif  // FRC971_CONTROL_LOOPS_COERCE_GOAL_H_