//////////////////////////////////////////////////////////////////////
//
//	EqualityConstraints.h: interface of the EqualityConstaints class.
//
//	Written By: Matthias Wacker
//
//	Constraints of the form: H(x) = 0 
//					where H is the vector of all equality constraints
//
//////////////////////////////////////////////////////////////////////

#ifndef _EQUALITYCONSTRAINTS_H_
#define _EQUALITYCONSTRAINTS_H_


#include "optimization/Constraints.h"


/*!
    class Abstract base class for all equality constraints. 
*/

class EqualityConstraints  : public Constraints
{
	public:
		
		typedef Constraints		SuperClass;
		typedef SuperClass::matrix_type	matrix_type;

		EqualityConstraints() : SuperClass() {};

	     /*!
            Constructor.
			\param numOfParameters
			\param numOfConstraints
         */
		EqualityConstraints(unsigned int numOfParameters, unsigned int numOfConstraints): SuperClass(numOfParameters,numOfConstraints){};
        
		/*
			Copy constructor
		*/
		EqualityConstraints(const Constraints &con):SuperClass(con){};

        /*!
            Destructor.
         */
        ~EqualityConstraints(){};
		
		/*!
			Initialization for the cost function
		 */
		virtual void init() = 0;

		/*!
			evaluate the constraints
			\param x =^ position
			\return matrix_type containing the i-th constraint result in the i-th component
		*/
		virtual matrix_type evaluate(const matrix_type & x) = 0;


	protected:

};

#endif