ConstantController.h

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/**********************************************************************************************************************
This file is part of the Control Toolbox (https://github.com/ethz-adrl/control-toolbox), copyright by ETH Zurich.
Licensed under the BSD-2 license (see LICENSE file in main directory)
**********************************************************************************************************************/

#pragma once

#include "Controller.h"

namespace ct {
namespace core {


template <size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
class ConstantController : public Controller<STATE_DIM, CONTROL_DIM, SCALAR>,
                           public DiscreteController<STATE_DIM, CONTROL_DIM, SCALAR>
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW


    ConstantController();


    ConstantController(ControlVector<CONTROL_DIM, SCALAR>& u);

    ConstantController(const ConstantController<STATE_DIM, CONTROL_DIM, SCALAR>& other);

    virtual ~ConstantController();


    ConstantController<STATE_DIM, CONTROL_DIM, SCALAR>* clone() const override;


    void computeControl(const StateVector<STATE_DIM, SCALAR>& state,
        const SCALAR& t,
        ControlVector<CONTROL_DIM, SCALAR>& controlAction) override;

    void computeControl(const StateVector<STATE_DIM, SCALAR>& state,
        const int n,
        ControlVector<CONTROL_DIM, SCALAR>& controlAction) override;


    void setControl(const ControlVector<CONTROL_DIM, SCALAR>& u);


    const ControlVector<CONTROL_DIM, SCALAR>& getControl() const;

    virtual ControlMatrix<CONTROL_DIM, SCALAR> getDerivativeU0(const StateVector<STATE_DIM, SCALAR>& state,
        const SCALAR time) override;

private:
    ControlVector<CONTROL_DIM, SCALAR> u_;
};
}  // namespace core
}  // namespace ct