CostFunction.hpp

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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 <vector>

namespace ct {
namespace optcon {

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

    typedef core::StateVector<STATE_DIM, SCALAR> state_vector_t;
    typedef core::ControlVector<CONTROL_DIM, SCALAR> control_vector_t;

    CostFunction();

    virtual ~CostFunction();

    CostFunction(const CostFunction& arg);

    virtual CostFunction<STATE_DIM, CONTROL_DIM, SCALAR>* clone() const = 0;

    virtual void setCurrentStateAndControl(const state_vector_t& x,
        const control_vector_t& u,
        const SCALAR& t = SCALAR(0.0));

    virtual void getCurrentStateAndControl(Eigen::Matrix<SCALAR, STATE_DIM, 1>& x,
        Eigen::Matrix<SCALAR, CONTROL_DIM, 1>& u,
        SCALAR& t) const;

    virtual SCALAR evaluateIntermediate() = 0;

    virtual SCALAR evaluateTerminal() = 0;

    virtual void shiftTime(const SCALAR t);


protected:
    state_vector_t x_;   
    control_vector_t u_; 
    SCALAR t_;           
    SCALAR t_shift_;
};

}  // namespace optcon
}  // namespace ct