feedforward.h

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/**
 * @file feedforward.h
 * @brief A pure virual class to function as an interface for all feedforward control systems
 *
 * This is designed as an interface for any control systems to use so long as they have:
 * An output of any type
 * A reference state of any type
 */
 
#pragma once
 
/**
 * @brief pure virtual class for generic feedforward control systems.
 *
 * @param T the data type for states
 * @param U the data type for output
 */
template <typename T, typename U>
class FeedForward {
 public:
  /// Resets the internal state of the control system
  virtual void reset() = 0;
  /**
   * @brief Updates the control loop output
   *
   * @param reference the current reference state for the system
   * @return the controller output
   */
  virtual U calculate(const T& reference) = 0;
 
  /// Gets the last saved output value
  U get_output() { return output_; }
 
  /// Gets the currently stored reference state
  T get_reference() { return reference_; }
 
  U output_min_;
  U output_max_;
 
 protected:
  T reference_;
 
  U output_;
};