Program Listing for File LQRController.hpp

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#ifndef LOULIB_LQRCONTROLLER_HPP
#define LOULIB_LQRCONTROLLER_HPP

#include "../Math/Math.hpp"

namespace LouLib {
    namespace Controllers {

        class LQRController {
        private:
            Math::Matrix A;
            Math::Matrix B;
            Math::Matrix Q;
            Math::Matrix R;

            Math::Matrix P{0,0};
            Math::Matrix K{0,0};

            Math::Vector reference{0};
            Math::Vector actual{0};

            void solveDARE();

        public:
            LQRController(const Math::Matrix &a, const Math::Matrix &b,
                          const Math::Matrix &q, const Math::Matrix &r);

            Math::Matrix getK();

            Math::Vector computeControl(Math::Vector x);

            void setReference(const Math::Vector &_reference);
        };

    } // LouLib
} // Controllers

#endif //LOULIB_LQRCONTROLLER_HPP