Controller.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 <memory>

#include <ct/core/types/Time.h>
#include <ct/core/types/StateVector.h>
#include <ct/core/types/ControlVector.h>
#include <ct/core/types/ControlMatrix.h>


namespace ct {
namespace core {


template <size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
class Controller
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    Controller(){};

    Controller(const Controller& other){};

    virtual ~Controller(){};


    virtual Controller* clone() const = 0;


    virtual void computeControl(const StateVector<STATE_DIM, SCALAR>& state,
        const SCALAR& t,
        ControlVector<CONTROL_DIM, SCALAR>& controlAction) = 0;

    virtual ControlMatrix<CONTROL_DIM, SCALAR> getDerivativeU0(const StateVector<STATE_DIM, SCALAR>& state,
        const SCALAR time)
    {
        throw std::runtime_error("getDerivativeU0() not implemented for the current controller");
    }

    virtual ControlMatrix<CONTROL_DIM, SCALAR> getDerivativeUf(const StateVector<STATE_DIM, SCALAR>& state,
        const SCALAR time)
    {
        throw std::runtime_error("getDerivativeUf() not implemented for the current controller");
    }
};

}  // namespace core
}  // namespace ct