SwitchedDiscreteControlledSystem.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 "DiscreteControlledSystem.h"
#include <ct/core/control/discrete_time/DiscreteController.h>
#include <ct/core/switching/Switching.h>

namespace ct {
namespace core {


template <size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
class SwitchedDiscreteControlledSystem : public DiscreteControlledSystem<STATE_DIM, CONTROL_DIM, SCALAR>
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    typedef typename std::shared_ptr<SwitchedDiscreteControlledSystem<STATE_DIM, CONTROL_DIM, SCALAR>> Ptr;
    typedef typename std::shared_ptr<DiscreteControlledSystem<STATE_DIM, CONTROL_DIM, SCALAR>> SystemPtr;
    typedef Switched<SystemPtr> SwitchedSystems;

    typedef DiscreteSystem<STATE_DIM, CONTROL_DIM, SCALAR> Base;

    typedef typename Base::state_vector_t state_vector_t;
    typedef typename Base::control_vector_t control_vector_t;
    typedef typename Base::time_t time_t;


    SwitchedDiscreteControlledSystem(const SwitchedSystems& switchedSystems,
        const DiscreteModeSequence& discreteModeSequence,
        const SYSTEM_TYPE& type = SYSTEM_TYPE::GENERAL)
        : DiscreteControlledSystem<STATE_DIM, CONTROL_DIM, SCALAR>(type),
          switchedSystems_(switchedSystems),
          discreteModeSequence_(discreteModeSequence){};


    SwitchedDiscreteControlledSystem(const SwitchedSystems& switchedSystems,
        const DiscreteModeSequence& discreteModeSequence,
        std::shared_ptr<DiscreteController<STATE_DIM, CONTROL_DIM, SCALAR>> controller,
        const SYSTEM_TYPE& type = SYSTEM_TYPE::GENERAL)
        : DiscreteControlledSystem<STATE_DIM, CONTROL_DIM, SCALAR>(controller, type),
          switchedSystems_(switchedSystems),
          discreteModeSequence_(discreteModeSequence){};

    SwitchedDiscreteControlledSystem(const SwitchedDiscreteControlledSystem& arg)
        : DiscreteControlledSystem<STATE_DIM, CONTROL_DIM, SCALAR>(arg),
          discreteModeSequence_(arg.discreteModeSequence_)
    {
        switchedSystems_.clear();
        for (auto& subSystem : arg.switchedSystems_)
        {
            switchedSystems_.emplace_back(subSystem->clone());
        }
    };

    virtual ~SwitchedDiscreteControlledSystem(){};

    virtual SwitchedDiscreteControlledSystem<STATE_DIM, CONTROL_DIM, SCALAR>* clone() const override
    {
        return new SwitchedDiscreteControlledSystem(*this);
    };


    virtual void propagateControlledDynamics(const state_vector_t& state,
        const time_t n,
        const control_vector_t& control,
        state_vector_t& stateNext) override
    {
        auto mode = discreteModeSequence_.getPhaseFromTime(n);
        switchedSystems_[mode]->propagateControlledDynamics(state, n, control, stateNext);
    };

protected:
    SwitchedSystems switchedSystems_;            
    DiscreteModeSequence discreteModeSequence_;  
};
}  // namespace core
}  // namespace ct