ConstantTrajectoryController.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 ConstantTrajectoryController : public Controller<STATE_DIM, CONTROL_DIM, SCALAR>
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW


    ConstantTrajectoryController() {}

    ConstantTrajectoryController(const ControlVectorArray<CONTROL_DIM, SCALAR>& u,
        const StateVectorArray<STATE_DIM, SCALAR>& x)
        : uff_(u), x_(x)
    {
    }

    ConstantTrajectoryController(const ConstantTrajectoryController<STATE_DIM, CONTROL_DIM, SCALAR>& other)
        : Controller<STATE_DIM, CONTROL_DIM, SCALAR>(other), x_(other.x_), uff_(other.uff_)
    {
    }

    ~ConstantTrajectoryController() {}

    ConstantTrajectoryController<STATE_DIM, CONTROL_DIM, SCALAR>* clone() const override
    {
        return new ConstantTrajectoryController<STATE_DIM, CONTROL_DIM, SCALAR>(*this);
    }


    void computeControl(const StateVector<STATE_DIM, SCALAR>& state,
        const SCALAR& t,
        ControlVector<CONTROL_DIM, SCALAR>& controlAction) override
    {
        throw std::runtime_error("not implemented");
    }


    void setControlVectorArray(const ControlVectorArray<CONTROL_DIM, SCALAR>& u) { uff_ = u; }

    const ControlVectorArray<CONTROL_DIM, SCALAR>& getControlVectorArray() const { return uff_; }

    void setStateVectorArray(const StateVectorArray<STATE_DIM, SCALAR>& x) { x_ = x; }

    const StateVectorArray<STATE_DIM, SCALAR>& getStateVectorArray() const { return x_; }
private:
    ControlVectorArray<CONTROL_DIM, SCALAR> uff_;  
    StateVectorArray<STATE_DIM, SCALAR> x_;
};
}
}