PolicyHandler.h

Go to the documentation of this file.

/**********************************************************************************************************************
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 <typename POLICY, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
class PolicyHandler
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    PolicyHandler();

    virtual ~PolicyHandler();


    virtual void designWarmStartingPolicy(const SCALAR& delay, const SCALAR& TimeHorizon, POLICY& policy);



    virtual void truncateSolutionFront(const SCALAR& delay, POLICY& policy, SCALAR& effectivelyTruncated);


    void setPolicy(const POLICY& newPolicy);


protected:
    POLICY initialPolicy_;  
};

}  // namespace optcon
}  // namespace ct