cartpole_dynamics_solver.h

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// Copyright (c) 2019, Traiko Dinev
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#ifndef EXOTICA_CARTPOLE_DYNAMICS_SOLVER_CARTPOLE_DYNAMICS_SOLVER_H_
#define EXOTICA_CARTPOLE_DYNAMICS_SOLVER_CARTPOLE_DYNAMICS_SOLVER_H_

#include <exotica_core/dynamics_solver.h>
#include <exotica_core/scene.h>

#include <exotica_cartpole_dynamics_solver/cartpole_dynamics_solver_initializer.h>

namespace exotica
{
class CartpoleDynamicsSolver : public DynamicsSolver, public Instantiable<CartpoleDynamicsSolverInitializer>
{
public:
    CartpoleDynamicsSolver();
    void AssignScene(ScenePtr scene_in) override;

    StateVector f(const StateVector& x, const ControlVector& u) override;

    Eigen::MatrixXd fx(const StateVector& x, const ControlVector& u) override;
    Eigen::MatrixXd fu(const StateVector& x, const ControlVector& u) override;

    // NOTE: fuu is always zero, so we don't override it
    Eigen::Tensor<double, 3> fxx(const StateVector& x, const ControlVector& u) override;
    Eigen::Tensor<double, 3> fxu(const StateVector& x, const ControlVector& u) override;

private:
    double g_ = 9.81;  
    double m_c_ = 1;   
    double m_p_ = 1;   
    double l_ = 1;     
};
}  // namespace exotica

#endif  // EXOTICA_CARTPOLE_DYNAMICS_SOLVER_CARTPOLE_DYNAMICS_SOLVER_H_