StepInputController.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 {


class StepInputController : public Controller<1, 1, double>
{
public:

    struct Parameters
    {
        Parameters(double gain_ = 1.0, double t_step_ = 1.0) : gain(gain_), t_step(t_step_) {}
        double gain;  
        Time t_step;  
    };

    StepInputController(const Parameters& parameters = Parameters()) : parameters_(parameters) {}
    StepInputController(const StepInputController& arg) : parameters_(arg.parameters_) {}
    StepInputController* clone() const override { return new StepInputController(*this); }

    void computeControl(const StateVector<1, double>& state,
        const double& t,
        ControlVector<1, double>& controlAction) override
    {
        controlAction(0) = parameters_.gain * (t >= parameters_.t_step);
    }

private:
    Parameters parameters_;  
};
}  // namespace core
}  // namespace ct