controller.h

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#ifndef GCOP_CONTROLLER_H
#define GCOP_CONTROLLER_H

#include <Eigen/Dense>

namespace gcop {
  
  using namespace Eigen;
  
  template <typename Tx, typename Tu, typename Ts = VectorXd, typename Tc = VectorXd> class Controller {
  public:
  virtual bool Set(Tu &u, double t, const Tx &x) = 0;
  
  virtual bool SetParams(const Ts &s) {
    this->s = s;
    return true;
  }
  
  virtual bool SetContext(const Tc &c) {
    this->c = c;
    return true;
  }
  
  Ts s; 
  Tc c; 
  };  
};

#endif