MaxStepsEventHandler.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 MaxStepsEventHandler : public ct::core::EventHandler<STATE_DIM>
{
public:
    typedef ct::core::StateVector<STATE_DIM> State_T;


    MaxStepsEventHandler(const size_t& maxStepsPerSec = std::numeric_limits<size_t>::max())
        : maxNumSteps_(maxStepsPerSec), stepsTaken_(0)
    {
    }

    virtual ~MaxStepsEventHandler() {}
    virtual bool callOnSubsteps() override { return false; }
    virtual void reset() override { stepsTaken_ = 0; };

    virtual bool checkEvent(const State_T& state, const double& t) override
    {
        stepsTaken_++;
        return (stepsTaken_ > maxNumSteps_);  // todo: fix this
    }

    virtual void handleEvent(const State_T& state, const double& t) override
    {
        throw std::runtime_error("integration terminated: max number of steps reached.\n");
    }


    void setMaxNumSteps(size_t maxNumSteps) { maxNumSteps_ = maxNumSteps; }
private:
    size_t maxNumSteps_;  
    size_t stepsTaken_;   
};

}  // namespace core
}  // namespace ct