StepperBase.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 {
namespace internal {

template <typename MATRIX, typename SCALAR = double>
class StepperBase
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    StepperBase() : absErrTol_(SCALAR(1e-8)), relErrTol_(SCALAR(1e-8)) {}
    virtual ~StepperBase() {}
    virtual void integrate_n_steps(const std::function<void(const MATRIX&, MATRIX&, SCALAR)>& rhs,
        MATRIX& state,
        const SCALAR& startTime,
        size_t numSteps,
        SCALAR dt)
    {
        throw std::runtime_error("Integrate_n_steps not implemented for the stepper type");
    }

    virtual void integrate_n_steps(std::function<void(const MATRIX& x, const SCALAR& t)> observer,
        const std::function<void(const MATRIX&, MATRIX&, SCALAR)>& rhs,
        MATRIX& state,
        const SCALAR& startTime,
        size_t numSteps,
        SCALAR dt)
    {
        throw std::runtime_error("Integrate_n_steps not implemented for the stepper type");
    }


    virtual void integrate_const(const std::function<void(const MATRIX&, MATRIX&, SCALAR)>& rhs,
        MATRIX& state,
        const SCALAR& startTime,
        const SCALAR& finalTime,
        SCALAR dt)
    {
        throw std::runtime_error("integrate_const not implemented for the stepper type");
    }

    virtual void integrate_const(std::function<void(const MATRIX& x, const SCALAR& t)> observer,
        const std::function<void(const MATRIX&, MATRIX&, SCALAR)>& rhs,
        MATRIX& state,
        const SCALAR& startTime,
        const SCALAR& finalTime,
        SCALAR dt)
    {
        throw std::runtime_error("integrate_const not implemented for the stepper type");
    }

    virtual void integrate_adaptive(const std::function<void(const MATRIX&, MATRIX&, SCALAR)>& rhs,
        MATRIX& state,
        const SCALAR& startTime,
        const SCALAR& finalTime,
        SCALAR dtInitial = SCALAR(0.01))
    {
        throw std::runtime_error("integrate_adaptive not implemented for the stepper type");
    }

    virtual void integrate_adaptive(std::function<void(const MATRIX& x, const SCALAR& t)> observer,
        const std::function<void(const MATRIX&, MATRIX&, SCALAR)>& rhs,
        MATRIX& state,
        const SCALAR& startTime,
        const SCALAR& finalTime,
        const SCALAR dtInitial = SCALAR(0.01))
    {
        throw std::runtime_error("integrate_adaptive not implemented for the stepper type");
    }

    virtual void integrate_times(std::function<void(const MATRIX& x, const SCALAR& t)> observer,
        const std::function<void(const MATRIX&, MATRIX&, SCALAR)>& rhs,
        MATRIX& state,
        const tpl::TimeArray<SCALAR>& timeTrajectory,
        SCALAR dtInitial = SCALAR(0.01))
    {
        throw std::runtime_error("integrate_times not implemented for the stepper type");
    }

    void setAdaptiveErrorTolerances(const SCALAR absErrTol, const SCALAR& relErrTol)
    {
        absErrTol_ = absErrTol;
        relErrTol_ = relErrTol;
    }

protected:
    SCALAR absErrTol_;
    SCALAR relErrTol_;
};
}
}
}