feedback.h

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/**
 * @file feedback.h
 * @brief A pure virual class to function as an interface for all feedback control loops
 *
 * This is designed as an interface for any control loops to use so long as they have:
 * An output of any type
 * A current and reference state of the same type
 */
 
#pragma once
 
#include "core/math/units.h"
 
/**
 * @brief pure virtual class for generic feedback control loops.
 *
 * @param T the data type for states
 * @param U the data type for output
 */
template <typename T, typename U>
class Feedback {
 public:
  /// Resets the internal state of the control loop
  virtual void reset() = 0;
 
  /**
   * @brief Updates the control loop output
   *
   * @param state the current state the control system is at
   * @param reference the target state for the control system
   * @param dt the timestep since the last time this method was called
   * @return the controller output
   */
  virtual U update(const T& state, const T& reference, const units::Time& dt) = 0;
 
  /// Gets the last saved output value
  U get_output() { return output_; }
 
  /// Gets the last saved error
  U get_last_error() { return last_error_; }
 
  /// Gets the currently stored reference state
  T get_reference() { return reference_; }
 
  /// Gets the currently stored state
  T get_state() { return state_; }
 
  U output_min_;
  U output_max_;
 
 protected:
  T reference_;
  T state_;
  T last_error_;
 
  U output_;
};