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


namespace ct {
namespace core {


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

    typedef StateVector<STATE_DIM, SCALAR> state_vector_t;
    typedef ControlVector<CONTROL_DIM, SCALAR> control_vector_t;

    DiscreteController(){};

    DiscreteController(const DiscreteController& other){};

    virtual ~DiscreteController(){};


    virtual DiscreteController* clone() const = 0;


    virtual void computeControl(const state_vector_t& state, const int n, control_vector_t& controlAction) = 0;
};

}  // namespace core
}  // namespace ct