InputDisturbedSystem.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 "DisturbedSystem.h"

namespace ct {
namespace optcon {

template <size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
class InputDisturbedSystem : public ct::optcon::DisturbedSystem<STATE_DIM, CONTROL_DIM, CONTROL_DIM, SCALAR>
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    // the dimension of the augmented state used in the filter
    static const size_t AUGMENTED_STATE_DIM = STATE_DIM + CONTROL_DIM;

    using Base = typename ct::optcon::DisturbedSystem<STATE_DIM, CONTROL_DIM, CONTROL_DIM, SCALAR>;

    InputDisturbedSystem(std::shared_ptr<ct::core::ControlledSystem<STATE_DIM, CONTROL_DIM, SCALAR>> sys);

    InputDisturbedSystem(const InputDisturbedSystem& other);

    InputDisturbedSystem* clone() const override;

    void computeControlledDynamics(const ct::core::StateVector<AUGMENTED_STATE_DIM, SCALAR>& state,
        const SCALAR& t,
        const ct::core::ControlVector<CONTROL_DIM, SCALAR>& control,
        ct::core::StateVector<AUGMENTED_STATE_DIM, SCALAR>& derivative) override;

private:
    // the nominal system (the one we are trying to control)
    std::shared_ptr<ct::core::ControlledSystem<STATE_DIM, CONTROL_DIM, SCALAR>> system_;
};

}  // namespace optcon
}  // namespace ct