Proportional.h

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/*
 * Copyright 2017-2020 CNRS-AIST JRL and CNRS-UM LIRMM
 */
 
#pragma once
 
// std::variant is basically unusable in clang 6 + libstdc++ due to a bug
// see, e.g. https://bugs.llvm.org/show_bug.cgi?id=33222
// We use https://github.com/mpark/variant/ instead
#include <mpark/variant.hpp>
 
#include <tvm/task_dynamics/abstract/TaskDynamics.h>
 
namespace tvm
{
 
namespace task_dynamics
{
 
class TVM_DLLAPI Proportional : public abstract::TaskDynamics
{
public:
  using Gain = mpark::variant<double, Eigen::VectorXd, Eigen::MatrixXd>;
 
  class TVM_DLLAPI Impl : public abstract::TaskDynamicsImpl
  {
  public:
    Impl(FunctionPtr f, constraint::Type t, const Eigen::VectorXd & rhs, const Gain & kp);
    void updateValue() override;
 
    ~Impl() override = default;
 
    void gain(double kp);
    void gain(const Eigen::VectorXd & kp);
    void gain(const Eigen::MatrixXd & kp);
    const Gain & gain() const;
    template<typename T>
    const T & gain() const
    { return mpark::get<T>(kp_); }
    Gain & gain();
    template<typename T>
    T & gain()
    { return mpark::get<T>(kp_); }
 
  private:
    Gain kp_;
  };
 
  Proportional(double kp);
  Proportional(const Eigen::VectorXd & kp);
  Proportional(const Eigen::MatrixXd & kp);
 
  ~Proportional() override = default;
 
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(kp_)
 
private:
  Gain kp_;
};
 
using P = Proportional;
} // namespace task_dynamics
 
} // namespace tvm