output_function_interface.h

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/*********************************************************************
 *
 *  Software License Agreement
 *
 *  Copyright (c) 2020,
 *  TU Dortmund - Institute of Control Theory and Systems Engineering.
 *  All rights reserved.
 *
 *  This program is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation, either version 3 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program.  If not, see <https://www.gnu.org/licenses/>.
 *
 *  Authors: Christoph Rösmann
 *********************************************************************/

#ifndef SRC_SYSTEMS_INCLUDE_CORBO_SYSTEMS_OUTPUT_FUNCTION_INTERFACE_H_
#define SRC_SYSTEMS_INCLUDE_CORBO_SYSTEMS_OUTPUT_FUNCTION_INTERFACE_H_

#include <corbo-core/factory.h>
#include <corbo-core/types.h>

#ifdef MESSAGE_SUPPORT
#include <corbo-communication/messages/systems/output_functions.pb.h>
#endif

#include <memory>

namespace corbo {

class SystemOutputInterface
{
 public:
    using Ptr = std::shared_ptr<SystemOutputInterface>;

    using StateVector  = Eigen::VectorXd;
    using OutputVector = Eigen::VectorXd;

    virtual ~SystemOutputInterface() = default;

    virtual int getOutputDimension() const = 0;

    virtual Ptr getInstance() const = 0;

    virtual void output(const StateVector& x, OutputVector& y) = 0;

    virtual void reset() {}

#ifdef MESSAGE_SUPPORT
    virtual void toMessage(corbo::messages::OutputFunction& message) const {}
    virtual void fromMessage(const corbo::messages::OutputFunction& message, std::stringstream* issues = nullptr) {}
#endif
};

using OutputFunctionFactory = Factory<SystemOutputInterface>;
#define FACTORY_REGISTER_OUTPUT_FUNCTION(type) FACTORY_REGISTER_OBJECT(type, SystemOutputInterface)

class FullStateSystemOutput : public SystemOutputInterface
{
 public:
    // implements interface method
    Ptr getInstance() const override { return std::make_shared<FullStateSystemOutput>(); }

    // implements interface method
    int getOutputDimension() const override { return property::INHERITED; }
    // implements interface method
    void output(const StateVector& x, OutputVector& y) override { y = x; }

#ifdef MESSAGE_SUPPORT
    // implements interface method
    void toMessage(corbo::messages::OutputFunction& message) const override { message.mutable_full_state_system_output(); }
#endif
};
FACTORY_REGISTER_OUTPUT_FUNCTION(FullStateSystemOutput)


class FirstStateSystemOutput : public SystemOutputInterface
{
 public:
    // implements interface method
    Ptr getInstance() const override { return std::make_shared<FirstStateSystemOutput>(); }
    // implements interface method
    int getOutputDimension() const override { return 1; }
    // implements interface method
    void output(const StateVector& x, OutputVector& y) override { y[0] = x[0]; }
#ifdef MESSAGE_SUPPORT
    // implements interface method
    void toMessage(corbo::messages::OutputFunction& message) const override { message.mutable_first_state_system_output(); }
#endif
};
FACTORY_REGISTER_OUTPUT_FUNCTION(FirstStateSystemOutput)


class LastStateSystemOutput : public SystemOutputInterface
{
 public:
    // implements interface method
    Ptr getInstance() const override { return std::make_shared<LastStateSystemOutput>(); }
    // implements interface method
    int getOutputDimension() const override { return 1; }
    // implements interface method
    void output(const StateVector& x, OutputVector& y) override { y[0] = x.tail(1)[0]; }
#ifdef MESSAGE_SUPPORT
    // implements interface method
    void toMessage(corbo::messages::OutputFunction& message) const override { message.mutable_last_state_system_output(); }
#endif
};
FACTORY_REGISTER_OUTPUT_FUNCTION(LastStateSystemOutput)


class LinearStateSystemOutput : public SystemOutputInterface
{
 public:
    // implements interface method
    Ptr getInstance() const override { return std::make_shared<LastStateSystemOutput>(); }
    // implements interface method
    int getOutputDimension() const override { return 1; }
    // implements interface method
    void output(const StateVector& x, OutputVector& y) override { y.noalias() = _mat_c * x; }
#ifdef MESSAGE_SUPPORT
    // implements interface method
    void toMessage(corbo::messages::OutputFunction& message) const override { message.mutable_last_state_system_output(); }
#endif

    const Eigen::MatrixXd& getLinearMatrixC() const { return _mat_c; }
    void setLinearMatrixC(const Eigen::Ref<const Eigen::MatrixXd>& matric_c) { _mat_c = matric_c; }

 private:
    Eigen::MatrixXd _mat_c;
};
FACTORY_REGISTER_OUTPUT_FUNCTION(LinearStateSystemOutput)

}  // namespace corbo

#endif  // SRC_SYSTEMS_INCLUDE_CORBO_SYSTEMS_OUTPUT_FUNCTION_INTERFACE_H_