dynamicmodel.hh

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#ifndef DYNAMICMODEL_H
#define DYNAMICMODEL_H
 
#include <Eigen/Core>
 
template <typename precision, int stateSize, int commandSize>
class DynamicModel {
 public:
  typedef Eigen::Matrix<precision, stateSize, 1> stateVec_t;  // 1 x stateSize
  typedef Eigen::Matrix<precision, 1, stateSize>
      stateVecTrans_t;  // 1 x stateSize
  typedef Eigen::Matrix<precision, stateSize, stateSize>
      stateMat_t;  // stateSize x stateSize
  typedef Eigen::Matrix<precision, stateSize, stateSize>
      stateTens_t[stateSize];  // stateSize x stateSize x stateSize
 
  // typedef for commandSize types
  typedef Eigen::Matrix<precision, commandSize, 1>
      commandVec_t;  // commandSize x 1
  typedef Eigen::Matrix<precision, 1, commandSize>
      commandVecTrans_t;  // 1 x commandSize
  typedef Eigen::Matrix<precision, commandSize, commandSize>
      commandMat_t;  // commandSize x commandSize
  typedef Eigen::Matrix<precision, commandSize, commandSize>
      commandTens_t[commandSize];  // stateSize x commandSize x commandSize
 
  // typedef for mixed stateSize and commandSize types
  typedef Eigen::Matrix<precision, stateSize, commandSize>
      stateR_commandC_t;  // stateSize x commandSize
  typedef Eigen::Matrix<precision, stateSize, commandSize>
      stateR_commandC_stateD_t[stateSize];  // stateSize x commandSize x
                                            // stateSize
  typedef Eigen::Matrix<precision, stateSize, commandSize>
      stateR_commandC_commandD_t[commandSize];  // stateSize x commandSize x
                                                // commandSize
  typedef Eigen::Matrix<precision, commandSize, stateSize>
      commandR_stateC_t;  // commandSize x stateSize
  typedef Eigen::Matrix<precision, commandSize, stateSize>
      commandR_stateC_stateD_t[stateSize];  // commandSize x stateSize x
                                            // stateSize
  typedef Eigen::Matrix<precision, commandSize, stateSize>
      commandR_stateC_commandD_t[commandSize];  // commandSize x stateSize x
                                                // commandSize
  typedef Eigen::Matrix<precision, stateSize, stateSize>
      stateR_stateC_commandD_t[commandSize];  // stateSize x stateSize x
                                              // commandSize
  typedef Eigen::Matrix<precision, commandSize, commandSize>
      commandR_commandC_stateD_t[stateSize];  // commandSize x commandSize x
                                              // stateSize
 
  // constructors //
 public:
  // attributes //
 public:
 protected:
  unsigned int stateNb;
  unsigned int commandNb;
  double dt;
 
  commandVec_t lowerCommandBounds;
  commandVec_t upperCommandBounds;
 
  stateMat_t fx;
  stateTens_t fxx;
  stateR_commandC_t fu;
  stateR_commandC_commandD_t fuu;
  stateR_stateC_commandD_t fxu;
  stateR_commandC_stateD_t fux;
 
 public:
 protected:
  // methods //
 public:
  virtual stateVec_t computeNextState(double& dt, const stateVec_t& X,
                                      const commandVec_t& U) = 0;
  virtual void computeModelDeriv(double& dt, const stateVec_t& X,
                                 const commandVec_t& U) = 0;
  virtual stateMat_t computeTensorContxx(const stateVec_t& nextVx) = 0;
  virtual commandMat_t computeTensorContuu(const stateVec_t& nextVx) = 0;
  virtual commandR_stateC_t computeTensorContux(const stateVec_t& nextVx) = 0;
 
 private:
 protected:
  // accessors //
 public:
  unsigned int getStateNb() { return stateNb; }
  unsigned int getCommandNb() { return commandNb; }
  commandVec_t& getLowerCommandBounds() { return lowerCommandBounds; }
  commandVec_t& getUpperCommandBounds() { return upperCommandBounds; }
  stateMat_t& getfx() { return fx; }
  stateTens_t& getfxx() { return fxx; }
  stateR_commandC_t& getfu() { return fu; }
  stateR_commandC_commandD_t& getfuu() { return fuu; }
  stateR_stateC_commandD_t& getfxu() { return fxu; }
  stateR_commandC_stateD_t& getfux() { return fux; }
};
 
#endif  // DYNAMICMODEL_H