MpcTimeHorizon.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 "../MpcSettings.h"

namespace ct {
namespace optcon {
namespace tpl {

template <typename SCALAR = double>
class MpcTimeHorizon
{
public:
    MpcTimeHorizon(const mpc_settings& settings, const SCALAR& initialTimeHorizon);

    virtual ~MpcTimeHorizon();


    virtual bool computeNewTimeHorizon(const SCALAR& t_since_ended_first_solve,
        const SCALAR& t_forward_prediction_stop,
        SCALAR& new_T);

    void updateSettings(const mpc_settings& mpcsettings);

    void updateInitialTimeHorizon(const SCALAR& initTimeHorizon);


protected:
    mpc_settings mpc_settings_;

    SCALAR initialTimeHorizon_;
};

}  // namespace tpl

typedef tpl::MpcTimeHorizon<double> MpcTimeHorizon;

}  // namespace optcon
}  // namespace ct