FeedbackMatrix.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

namespace ct {
namespace core {

template <size_t STATE_DIM, size_t CONTROL_DIM, class SCALAR = double>
class FeedbackMatrix : public Eigen::Matrix<SCALAR, CONTROL_DIM, STATE_DIM>
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    FeedbackMatrix(){};
    virtual ~FeedbackMatrix(){};

    typedef Eigen::Matrix<SCALAR, CONTROL_DIM, STATE_DIM> Base;

    template <typename OtherDerived>
    FeedbackMatrix(const Eigen::MatrixBase<OtherDerived>& other) : Base(other)
    {
    }

    template <typename OtherDerived>
    FeedbackMatrix& operator=(const Eigen::MatrixBase<OtherDerived>& other)
    {
        this->Base::operator=(other);
        return *this;
    }

    Base& toImplementation() { return *this; }
    const Base& toImplementation() const { return *this; }
};

} /* namespace core */
} /* namespace ct */