system_dynamics_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.
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 *  You should have received a copy of the GNU General Public License
 *  along with this program.  If not, see <https://www.gnu.org/licenses/>.
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 *  Authors: Christoph Rösmann
 *********************************************************************/
 
#ifndef SRC_SYSTEMS_INCLUDE_CORBO_SYSTEMS_SYSTEM_DYNAMICS_INTERFACE_H_
#define SRC_SYSTEMS_INCLUDE_CORBO_SYSTEMS_SYSTEM_DYNAMICS_INTERFACE_H_
 
#include <corbo-core/factory.h>
#include <corbo-core/time.h>
#include <corbo-core/types.h>
 
#ifdef MESSAGE_SUPPORT
#include <corbo-communication/messages/systems/system_dynamics.pb.h>
#endif
 
#include <memory>
 
namespace corbo {
 
class FiniteDifferencesInterface;  // forward declaration
 
class SystemDynamicsInterface
{
 public:
    using Ptr           = std::shared_ptr<SystemDynamicsInterface>;
    using StateVector   = Eigen::VectorXd;
    using ControlVector = Eigen::VectorXd;
 
    SystemDynamicsInterface();
 
    virtual ~SystemDynamicsInterface() = default;
 
    virtual Ptr getInstance() const = 0;
 
    virtual bool isContinuousTime() const = 0;
 
    virtual bool isLinear() const = 0;
 
    virtual int getInputDimension() const = 0;
    virtual int getStateDimension() const = 0;
    virtual double getDeadTime() const { return _deadtime; }
 
    virtual void dynamics(const Eigen::Ref<const StateVector>& x, const Eigen::Ref<const ControlVector>& u, Eigen::Ref<StateVector> f) const = 0;
 
    virtual void getLinearA(const StateVector& x0, const ControlVector& u0, Eigen::MatrixXd& A) const;
 
    virtual void getLinearB(const StateVector& x0, const ControlVector& u0, Eigen::MatrixXd& B) const;
 
    void setLinearizationMethod(std::shared_ptr<FiniteDifferencesInterface> lin_method);
 
    virtual void reset() {}
 
#ifdef MESSAGE_SUPPORT
    virtual void toMessage(messages::SystemDynamics& message) const;
    virtual void fromMessage(const messages::SystemDynamics& message, std::stringstream* issues = nullptr);
#endif
 
 private:
    std::shared_ptr<FiniteDifferencesInterface> _linearization_method;
    double _deadtime = 0.0;
};
 
using SystemDynamicsFactory = Factory<SystemDynamicsInterface>;
#define FACTORY_REGISTER_SYSTEM_DYNAMICS(type) FACTORY_REGISTER_OBJECT(type, SystemDynamicsInterface)
 
}  // namespace corbo
 
#endif  // SRC_SYSTEMS_INCLUDE_CORBO_SYSTEMS_SYSTEM_DYNAMICS_INTERFACE_H_