DisturbedSystem.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 DisturbedSystem : public ct::core::ControlledSystem<STATE_DIM + DIST_DIM, CONTROL_DIM, SCALAR>
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    static const size_t AUGMENTED_DIM = STATE_DIM + DIST_DIM;

    DisturbedSystem();

    virtual ~DisturbedSystem() = default;

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

    // Not overloaded. This is a completely new method.
    void setController(const std::shared_ptr<ct::core::Controller<STATE_DIM, CONTROL_DIM, SCALAR>> controller);

    virtual void computeControlledDynamics(const ct::core::StateVector<AUGMENTED_DIM, SCALAR>& state,
        const SCALAR& t,
        const ct::core::ControlVector<CONTROL_DIM, SCALAR>& control,
        ct::core::StateVector<AUGMENTED_DIM, SCALAR>& derivative) = 0;
};

}  // namespace optcon
}  // namespace ct