codac_CtcLinobs.h

Go to the documentation of this file.

#ifndef __CODAC_CTCLINOBS_H__
#define __CODAC_CTCLINOBS_H__

#include <map>
#include <vector>
#include <functional>
#include "codac_DynCtc.h"
#include "codac_ConvexPolygon.h"
#include "codac_IntervalMatrix.h"

namespace codac
{
  class CtcLinobs : public DynCtc
  {
    public:

      CtcLinobs(const Matrix& A, const Vector& b); // /!\ auto evaluation of e^At not reliable
      ~CtcLinobs();

      void contract(std::vector<Domain*>& v_domains);
      void contract(Tube& x1, Tube& x2, const Tube& u, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD);
      void contract(TubeVector& x, const Tube& u, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD);
      void contract(TubeVector& x, const Tube& u, std::vector<ConvexPolygon>& v_p_k, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD);

      // todo: contraction of the observations
      void contract(double& t, IntervalVector& y, TubeVector& x, const Tube& u, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD);
      void contract(double& t, IntervalVector& y, TubeVector& x, const Tube& u, std::vector<ConvexPolygon>& v_p_k, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD);

      // todo: contraction of the observations
      void contract(std::vector<double>& v_t, std::vector<IntervalVector>& v_y, TubeVector& x, const Tube& u, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD);
      void contract(std::vector<double>& v_t, std::vector<IntervalVector>& v_y, TubeVector& x, const Tube& u, std::vector<ConvexPolygon>& v_p_k, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD);
      void contract(std::vector<double>& v_t, std::vector<IntervalVector>& v_y, Tube& x1, Tube& x2, const Tube& u, std::vector<ConvexPolygon>& v_p_k, TimePropag t_propa = TimePropag::FORWARD | TimePropag::BACKWARD);

      ConvexPolygon polygon_envelope(const ConvexPolygon& p_k, double dt_k_kp1, const Matrix& A, const Vector& b, const Interval& u_k);


    protected:

      void ctc_fwd_gate(ConvexPolygon& p_k, const ConvexPolygon& p_km1, double dt_km1_k, const Matrix& A, const Vector& b, const Interval& u_km1);
      void ctc_bwd_gate(ConvexPolygon& p_k, const ConvexPolygon& p_kp1, double dt_k_kp1, const Matrix& A, const Vector& b, const Interval& u_k);


    protected:

      const Matrix* m_A;
      const Vector* m_b;

      const int m_polygon_max_edges = 15;

      static const std::string m_ctc_name; 
      static std::vector<std::string> m_str_expected_doms; 
      friend class ContractorNetwork;
  };
}

#endif