Controller.h

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#ifndef CONTROLLER_H
#define CONTROLLER_H
 
#include "../Control_block.h"
 
class Controller : ControlBlock {
public:
    Controller(const std::string& symbol, const vector<double>& value, int number_signals, std::vector<double> refs = { 0 })
        : ControlBlock(), controller_symbol(symbol), reference(refs) {
        if (reference.size() != number_signals) {
            reference.resize(number_signals, 0.0); // Initialize reference values
        }
    }
 
    virtual Eigen::VectorXd define_equations(const Eigen::VectorXd& x, const Eigen::VectorXd& u, const Eigen::VectorXd& c) {
        return Eigen::VectorXd::Zero(2);
    };
 
    virtual Eigen::VectorXd define_equations(const double x, const double u, const double c) {
        return Eigen::VectorXd::Zero(2);
    };
 
   virtual void printValues() override {
        for (const auto& ref : reference) {
            std::cout << ref << " ";
        }
        std::cout << std::endl;
    }
 
    void setReference(const std::vector<double>& ref) {
        for (size_t i = 0; i < ref.size(); ++i) {
            reference[i] = ref[i]; // Set reference values
        }
    }
 
    void setReference(const double ref, int i) {
        reference[i] = ref; // Set reference values
    }
 
    std::vector<double> getReference() const {
        return reference; // Get reference values
    }
 
    std::string getControllerSymbol() const {
        return controller_symbol; // Get controller symbol
    }
 
    int getNumberOfSignals() const {
        return static_cast<int>(reference.size()); // Get number of signals
    }
 
    virtual vector<double> getParameters() const { return reference; }; // Pure virtual function for parameters
 
    virtual void setParameters(const vector<double>& params) {}; // Pure virtual function to set parameters
 
    virtual ~Controller() = default; // Virtual destructor for proper cleanup
 
protected: 
    std::string controller_symbol; // Symbol for the controller
    bool active = false;           // Activation status
    std::vector<double> reference; // Reference values
};
 
#endif // CONTROLLER_H