state_feedback.hpp

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#ifndef STATE_FEEDBACK_HPP
#define STATE_FEEDBACK_HPP

#include <float.h>
#include <memory>

#include <tuw_control/state/state.h>

namespace tuw
{
template <typename InputObsStateType, typename InputDesStateType, typename OutputStateType, typename ParamType>
class StateFeedback
{
  // special class member functions
public:
  StateFeedback(std::shared_ptr<ParamType> _params) : params_(_params)
  {
  }

public:
  virtual ~StateFeedback() = default;

public:
  StateFeedback(const StateFeedback&) = default;

public:
  StateFeedback& operator=(const StateFeedback&) = default;

public:
  StateFeedback(StateFeedback&&) = default;

public:
  StateFeedback& operator=(StateFeedback&&) = default;

  // pure virtual functions
public:
  virtual std::shared_ptr<OutputStateType>& compute(std::shared_ptr<InputObsStateType>& _xObs,
                                                    std::shared_ptr<InputDesStateType>& _xDes, const double& _t) = 0;
public:
  virtual void reloadParam() = 0;
public:
  std::shared_ptr<OutputStateType>& output()
  {
    return output_;
  }
public:
  std::shared_ptr<ParamType>& params()
  {
    return params_;
  }

protected:
  std::shared_ptr<ParamType> params_;  
protected:
  std::shared_ptr<OutputStateType> output_;  
};
}

#endif  // STATE_FEEDBACK_HPP