linear.hpp

// BSD 3-Clause License
//
// Copyright (C) 2026, Heriot-Watt University
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.

#ifndef CROCODDYL_CORE_GUIDANCE_LINEAR_HPP_
#define CROCODDYL_CORE_GUIDANCE_LINEAR_HPP_

#include "crocoddyl/core/guidance-base.hpp"

namespace crocoddyl {

template <typename _Scalar>
class GuidanceModelLinearTpl : public GuidanceModelAbstractTpl<_Scalar> {
 public:
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 CROCODDYL_DERIVED_CAST(GuidanceModelBase, GuidanceModelLinearTpl)

 typedef _Scalar Scalar;
 typedef GuidanceModelAbstractTpl<Scalar> Base;
 typedef MathBaseTpl<Scalar> MathBase;
 typedef typename Base::GuidanceDataAbstract GuidanceDataAbstract;
 typedef typename MathBase::VectorXs VectorXs;
 typedef typename MathBase::MatrixXs MatrixXs;

 explicit GuidanceModelLinearTpl(const MatrixXs& gain);

 explicit GuidanceModelLinearTpl(const VectorXs& diagonal_gain);

 GuidanceModelLinearTpl(const std::size_t nr, const Scalar& gain);
 virtual ~GuidanceModelLinearTpl() = default;

 virtual void calc(const std::shared_ptr<GuidanceDataAbstract>& data,
 const Eigen::Ref<const VectorXs>& error) const override;

 virtual void calcDiff(const std::shared_ptr<GuidanceDataAbstract>& data,
 const Eigen::Ref<const VectorXs>& error) const override;

 const MatrixXs& get_gain() const;

 template <typename NewScalar>
 GuidanceModelLinearTpl<NewScalar> cast() const;

 void set_gain(const MatrixXs& gain);

 virtual void print(std::ostream& os) const override;

 private:
 MatrixXs gain_;

 using Base::checkErrorDimension;
 using Base::checkJacobianDimension;
 using Base::checkRateDimension;
 using Base::nr_;
};

} // namespace crocoddyl

/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/core/guidance/linear.hxx"

CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::GuidanceModelLinearTpl)

#endif // CROCODDYL_CORE_GUIDANCE_LINEAR_HPP_