DiscreteLinearSystem.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 DiscreteLinearSystem : public DiscreteControlledSystem<STATE_DIM, CONTROL_DIM, SCALAR>
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    typedef DiscreteControlledSystem<STATE_DIM, CONTROL_DIM, SCALAR> Base;
    typedef typename Base::time_t time_t;

    typedef typename Base::state_vector_t state_vector_t;
    typedef typename Base::control_vector_t control_vector_t;

    typedef StateMatrix<STATE_DIM, SCALAR> state_matrix_t;                              
    typedef StateControlMatrix<STATE_DIM, CONTROL_DIM, SCALAR> state_control_matrix_t;  


    DiscreteLinearSystem(const ct::core::SYSTEM_TYPE& type = ct::core::SYSTEM_TYPE::GENERAL)
        : DiscreteControlledSystem<STATE_DIM, CONTROL_DIM, SCALAR>(type)
    {
    }

    virtual ~DiscreteLinearSystem(){};

    virtual DiscreteLinearSystem<STATE_DIM, CONTROL_DIM, SCALAR>* clone() const override = 0;


    virtual void propagateControlledDynamics(const state_vector_t& state,
        const time_t n,
        const control_vector_t& control,
        state_vector_t& stateNext) override
    {
        state_matrix_t A;
        state_control_matrix_t B;
        this->getAandB(state, control, state, n, 1, A, B);
        stateNext = A * state + B * control;
    }



    virtual void getAandB(const state_vector_t& x,
        const control_vector_t& u,
        const state_vector_t& x_next,
        const int n,
        size_t subSteps,
        state_matrix_t& A,
        state_control_matrix_t& B) = 0;

    void getAandB(const state_vector_t& x,
        const control_vector_t& u,
        const int n,
        state_matrix_t& A,
        state_control_matrix_t& B)
    {
        getAandB(x, u, x, n, 1, A, B);
    }
};

}  // namespace core
}  // namespace ct