KillIntegrationEventHandler.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/integration/EventHandler.h>

namespace ct {
namespace core {


template <size_t STATE_DIM>
class KillIntegrationEventHandler : public EventHandler<STATE_DIM>
{
public:
    typedef Eigen::Matrix<double, STATE_DIM, 1> State_T;


    KillIntegrationEventHandler() : killIntegration_(false) {}
    virtual ~KillIntegrationEventHandler() {}
    virtual bool callOnSubsteps() override { return false; }
    bool checkEvent(const State_T& state, const double& t) override { return killIntegration_; }

    void handleEvent(const State_T& state, const double& t) override
    {
        /* throw an exception which stops the integration */
        throw std::runtime_error("Integration terminated due to external event specified by user.");
    }

    void setEvent() { killIntegration_ = true; }
    void resetEvent() { killIntegration_ = false; }
    virtual void reset() override { resetEvent(); };
private:
    bool killIntegration_;  
};

}  // namespace core
}  // namespace ct