---

suContactTargetHorizontal.h

// suContactTargetHorizontal.h
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// AUTHOR: Frank C. Anderson and Saryn Goldberg
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#ifndef __suContactTargetHorizontal_h__
#define __suContactTargetHorizontal_h__


//==============================================================================
// INCLUDES
//==============================================================================
#include "suTrackControllerDLL.h"
#include <math.h>
#include <rdMath.h>
#include <rdFSQP.h>
#include <rdModel.h>
#include "suPreTrackContact.h"



//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
class SUTRACKCONTROLLER_API suContactTargetHorizontal : 
      public rdOptimizationTarget
{
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//==============================================================================
// DATA
//==============================================================================
private:
   suPreTrackContact *_preTracker;

//==============================================================================
// METHODS
//==============================================================================
public:
   //---------------------------------------------------------------------------
   // CONSTRUCTION
   //---------------------------------------------------------------------------
   virtual ~suContactTargetHorizontal();
   suContactTargetHorizontal(int aNX,int aNC,suPreTrackContact *aPreTracker);

   //---------------------------------------------------------------------------
   // SET AND GET
   //---------------------------------------------------------------------------

   //--------------------------------------------------------------------------
   // REQUIRED OPTIMIZATION TARGET METHODS
   //--------------------------------------------------------------------------
   // PERFORMANCE AND CONSTRAINTS
   int compute(double *x,double *p,double *c);
   int computeGradients(double *dx,double *x,double *dpdx,double *dcdx);
   // PERFORMANCE
   int computePerformance(double *x,double *p);
   int computePerformanceGradient(double *x,double *dpdx);
   // CONSTRAINTS
   int computeConstraint(double *x,int i,double *c);
   int computeConstraintGradient(double *x,int i,double *dcdx);

   //--------------------------------------------------------------------------
   // ADDITIONAL METHODS
   //--------------------------------------------------------------------------

//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
}; // END class suContactTargetHorizontal
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++


#endif // #ifndef __suContactTargetHorizontal_h__

---