DisturbedSystemController.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 optcon {

template <size_t STATE_DIM, size_t DIST_DIM, size_t CONTROL_DIM, typename SCALAR = double>
class DisturbedSystemController : public ct::core::Controller<STATE_DIM + DIST_DIM, CONTROL_DIM, SCALAR>
{
public:
    static const size_t AUGMENTED_DIM = STATE_DIM + DIST_DIM;

    DisturbedSystemController(
        std::shared_ptr<ct::core::Controller<STATE_DIM, CONTROL_DIM, SCALAR>> controller = nullptr);

    DisturbedSystemController(const DisturbedSystemController& other);

    DisturbedSystemController* clone() const override;

    void computeControl(const ct::core::StateVector<AUGMENTED_DIM, SCALAR>& state,
        const SCALAR& t,
        ct::core::ControlVector<CONTROL_DIM, SCALAR>& controlAction) override;

    ct::core::ControlMatrix<CONTROL_DIM, SCALAR> getDerivativeU0(
        const ct::core::StateVector<AUGMENTED_DIM, SCALAR>& state,
        const SCALAR time) override;

    ct::core::ControlMatrix<CONTROL_DIM, SCALAR> getDerivativeUf(
        const ct::core::StateVector<AUGMENTED_DIM, SCALAR>& state,
        const SCALAR time) override;

    void setController(std::shared_ptr<ct::core::Controller<STATE_DIM, CONTROL_DIM, SCALAR>> controller);

private:
    std::shared_ptr<ct::core::Controller<STATE_DIM, CONTROL_DIM, SCALAR>> controller_;  
};

}  // namespace optcon
}  // namespace ct