OneStepToZero.h

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/*
 * Copyright 2017-2021 CNRS-AIST JRL and CNRS-UM LIRMM
 */
 
#pragma once
 
#include <tvm/task_dynamics/abstract/TaskDynamics.h>
 
namespace tvm
{
 
namespace task_dynamics
{
 
class TVM_DLLAPI OneStepToZero : public abstract::TaskDynamics
{
public:
  static void checkParam(Order d, double dt);
 
  class TVM_DLLAPI Impl : public abstract::TaskDynamicsImpl
  {
  public:
    Impl(FunctionPtr f, constraint::Type t, const Eigen::VectorXd & rhs, Order d, double dt);
    void updateValue() override;
 
    ~Impl() override = default;
 
  private:
    double dt_;
  };
 
  OneStepToZero(Order d, double dt);
 
protected:
  std::unique_ptr<abstract::TaskDynamicsImpl> impl_(FunctionPtr f,
                                                    constraint::Type t,
                                                    const Eigen::VectorXd & rhs) const override;
  Order order_() const override;
 
  TASK_DYNAMICS_DERIVED_FACTORY(d_, dt_)
 
private:
  Order d_;
  double dt_;
};
 
} // namespace task_dynamics
 
} // namespace tvm