system_identification.h

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#pragma once

#include <map>
#include <set>
#include <stdexcept>
#include <vector>

#include "drake/util/Polynomial.h"
#include "drake/drakeOptimization_export.h"

namespace drake {
namespace solvers {


template <typename CoefficientType>
class DRAKEOPTIMIZATION_EXPORT SystemIdentification {
 public:
  typedef ::Polynomial<CoefficientType> PolyType;
  typedef typename PolyType::Monomial MonomialType;
  typedef typename PolyType::Term TermType;
  typedef typename PolyType::VarType VarType;
  typedef std::map<PolyType, VarType> LumpingMapType;


  static LumpingMapType GetLumpedParametersFromPolynomial(
      const PolyType& poly,
      const std::set<VarType>& parameter_vars);


  static LumpingMapType GetLumpedParametersFromPolynomials(
      const std::vector<PolyType>& polys,
      const std::set<VarType>& parameter_vars);


  static PolyType RewritePolynomialWithLumpedParameters(
      const PolyType& poly,
      const LumpingMapType& lumped_parameters);


  typedef std::map<VarType, CoefficientType> PartialEvalType;
  static std::pair<PartialEvalType, CoefficientType> EstimateParameters(
      const VectorXPoly& polys,
      const std::vector<PartialEvalType>& active_var_values);

 private:
  SystemIdentification() {}


  static std::set<MonomialType>
  GetAllCombinationsOfVars(
      const std::vector<PolyType>& polys,
      const std::set<VarType>& vars);


  static bool MonomialMatches(
    const MonomialType& haystack,
    const MonomialType& needle,
    const std::set<VarType>& active_vars);


  static std::pair<CoefficientType, PolyType>
  CanonicalizePolynomial(const PolyType& poly);

  static VarType CreateUnusedVar(const std::string& prefix,
                                 const std::set<VarType>& vars_in_use);
};
}  // namespace solvers
}  // namespace drake