esc.h

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/*
 * esc.h
 *
 *  Created on: Jul 26, 2012
 *      Author: Berk Calli, Wouter Caarls
 *      Organization: Delft Biorobotics Lab., Delft University of Technology
 *              Contact info: b.calli@tudelft.nl, web: www.dbl.tudelft.nl
 *
 * Superclass for extremum seeking control algorithms
 */

#ifndef ESC_H_
#define ESC_H_
#include <vector>
#include <string>
#define PI 3.141592654

class ESC
{
  public:
    enum inputType
    {
      inputStateValue, 
      inputValue       
    };
        
    enum outputType
    {
      outputVelocity,  
      outputPosition   
    };

public:
    virtual ~ESC() { }

    virtual std::vector<std::string> monitorNames() { return std::vector<std::string>(); }
        
    virtual std::vector<double> monitor() { return std::vector<double>(); }

    virtual inputType getInputType() = 0;
        
    virtual outputType getOutputType() = 0;

    virtual std::vector<double> step(std::vector<double> state, double obj_val)
    {
      return step(obj_val);
    }

    virtual std::vector<double> step(double obj_val)
    {
      return std::vector<double>();
    }

    virtual void reset() = 0;

    virtual bool isStoppingConditionsMet(){
        return false;
    }
};

#endif /* ESC_H_ */