System.hpp

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#pragma once
 
#include <eigen3/Eigen/Dense>
 
namespace mimpc {
 
    template<int num_states, int num_cont_inputs, int num_bin_inputs>
    class System {
    public:
        static constexpr auto NUM_STATES = num_states;
        static constexpr auto NUM_CONT_INPUTS = num_cont_inputs;
        static constexpr auto NUM_BIN_INPUTS = num_bin_inputs;
        static constexpr auto NUM_INPUTS = num_bin_inputs + num_cont_inputs;
 
        using AMatrix = typename Eigen::Matrix<double, num_states, num_states>;
        using BMatrix = typename Eigen::Matrix<double, num_states, num_cont_inputs + num_bin_inputs>;
        using StateVec = typename Eigen::Vector<double, num_states>;
        using InputVec = typename Eigen::Vector<double, num_cont_inputs + num_bin_inputs>;
 
        virtual AMatrix getA(const StateVec &state) const = 0;
 
        virtual BMatrix getB(const StateVec &state) const = 0;
 
        virtual void
        updateA(const StateVec &state, std::function<void(unsigned int, unsigned int, double)> &changeAval) const = 0;
 
        virtual void
        updateB(const StateVec &state, std::function<void(unsigned int, unsigned int, double)> &changeBval) const = 0;
    };
}