libhybrid.h

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/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
 * Copyright 2018 - Matteo Ragni, Matteo Cocetti - University of Trento
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
 * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */

#ifndef LIBHYBRID_H_
#define LIBHYBRID_H_

#ifndef HYB_FLOAT_TYPE
#define HYB_FLOAT_TYPE double 
#endif
typedef HYB_FLOAT_TYPE hyb_float; 
#define RK4_FLOAT_TYPE HYB_FLOAT_TYPE 
#include "librk4.h"

typedef enum hyb_bool {
  hyb_false = 0, 
  hyb_true 
} hyb_bool;

typedef void (*hyb_flow_map)(hyb_float *xdot, hyb_float t, hyb_float j, const hyb_float *x, const hyb_float *u, const hyb_float **p);

typedef void (*hyb_jump_map)(hyb_float *xp, hyb_float t, hyb_float j, const hyb_float *x, const hyb_float *u, const hyb_float **p);

typedef void (*hyb_jump_map)(hyb_float *xp, hyb_float t, hyb_float j, const hyb_float *x, const hyb_float *u, const hyb_float **p);


typedef hyb_bool (*hyb_jump_set)(hyb_float t, hyb_float j, const hyb_float *x, const hyb_float *u, const hyb_float **p);


typedef hyb_bool (*hyb_flow_set)(hyb_float t, hyb_float j, const hyb_float *x, const hyb_float *u, const hyb_float **p);


typedef void (*hyb_out_map)(hyb_float *y, hyb_float t, hyb_float j, const hyb_float *x, const hyb_float *u, const hyb_float **p);

#ifndef HYB_JUMP_LOGIC
#define HYB_JUMP_LOGIC 1
#endif

typedef struct hyb_opts {
  size_t y_size; 
  size_t x_size; 
  hyb_float Ts; 
  hyb_float T_horizon; 
  hyb_float J_horizon; 
  hyb_flow_map F; 
  hyb_jump_map J; 
  hyb_out_map Y; 
  hyb_jump_set D; 
  hyb_flow_set C; 
} hyb_opts;

#define HYB_GET_OPTS(S) ((hyb_opts *)S) 
#define HYB_SEND_OPTS(S) ((void *)S) 
typedef enum hyb_errorcode {
  HYB_SUCCESS = 0, 
  HYB_EMALLOC,     
  HYB_NULLPTR,     
  HYB_GENERIC,     
  HYB_TLIMIT,      
  HYB_JLIMIT,      
  HYB_NOJUMP       
} hyb_errorcode;

hyb_errorcode hyb_main_loop(hyb_opts *opts, hyb_float *y, hyb_float *xp, hyb_float tau, const hyb_float *x, const hyb_float *u, const hyb_float **p);

void hyb_flow_map_wrapper(hyb_float *dx, hyb_float tau, const hyb_float *x, const hyb_float *u, const hyb_float **p, void *vopts);

#endif /* LIBHYBRID_H_ */