relative_dynamics.h

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/*
 * Copyright (c) 2018, The Regents of the University of California (Regents).
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 *    2. Redistributions in binary form must reproduce the above
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 *       contributors may be used to endorse or promote products derived
 *       from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS AS IS
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 * Please contact the author(s) of this library if you have any questions.
 * Authors: David Fridovich-Keil   ( dfk@eecs.berkeley.edu )
 */

//
// Defines the RelativeDynamics class, which encodes relative dynamcis between
// the tracker and the planner. Templated on both state types, and also the
// control types for each system.
//

#ifndef FASTRACK_DYNAMICS_RELATIVE_DYNAMICS_H
#define FASTRACK_DYNAMICS_RELATIVE_DYNAMICS_H

#include <fastrack/control/control_bound.h>
#include <fastrack/state/relative_state.h>
#include <fastrack/utils/types.h>

namespace fastrack {
namespace dynamics {

using state::RelativeState;
using control::ControlBound;

template <typename TS, typename TC, typename PS, typename PC>
class RelativeDynamics {
public:
  // Destructor.
  virtual ~RelativeDynamics() {}

  // Derived classes must be able to give the time derivative of relative state
  // as a function of current state and control of each system.
  virtual std::unique_ptr<RelativeState<TS, PS>>
  Evaluate(const TS &tracker_x, const TC &tracker_u, const PS &planner_x,
           const PC &planner_u) const = 0;

  // Derived classes must be able to compute an optimal control given
  // the gradient of the value function at the relative state specified
  // by the given system states, provided abstract control bounds.
  virtual TC OptimalControl(const TS &tracker_x, const PS &planner_x,
                            const RelativeState<TS, PS> &value_gradient,
                            const ControlBound<TC> &tracker_u_bound,
                            const ControlBound<PC> &planner_u_bound) const = 0;

protected:
  explicit RelativeDynamics() {}
}; //\class RelativeDynamics

} // namespace dynamics
} // namespace fastrack

#endif