control_policy.hpp

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#ifndef ROBOTOC_CONTROL_POLICY_HPP_
#define ROBOTOC_CONTROL_POLICY_HPP_
 
#include <iostream>
 
#include "Eigen/Core"
 
#include "robotoc/solver/ocp_solver.hpp"
 
 
namespace robotoc {
 
struct ControlPolicy {
  ControlPolicy(const OCPSolver& ocp_solver, const double t);
 
  ControlPolicy();
 
  ~ControlPolicy() = default;
 
  ControlPolicy(const ControlPolicy&) = default;
 
  ControlPolicy& operator=(const ControlPolicy&) = default;
 
  ControlPolicy(ControlPolicy&&) noexcept = default;
 
  ControlPolicy& operator=(ControlPolicy&&) noexcept = default;
 
  void set(const OCPSolver& ocp_solver, const double t);
 
  double t;
 
  Eigen::VectorXd tauJ; 
 
  Eigen::VectorXd qJ; 
 
  Eigen::VectorXd dqJ; 
 
  Eigen::MatrixXd Kp; 
 
  Eigen::MatrixXd Kd; 
 
  static ControlPolicy FromOCPSolver(const OCPSolver& ocp_solver);
 
  void disp(std::ostream& os) const;
 
  friend std::ostream& operator<<(std::ostream& os, 
                                  const ControlPolicy& control_policy);
 
};
 
} // namespace robotoc 
 
#endif // ROBOTOC_CONTROL_POLICY_HPP_