Initial Commit (tested training, testing, and TRT conversion)

flightlib/include/flightlib/common/integrator_base.hpp

@@ -0,0 +1,32 @@
+#pragma once
+
+#include <functional>
+
+#include "flightlib/common/quad_state.hpp"
+#include "flightlib/common/types.hpp"
+
+namespace flightlib {
+
+class IntegratorBase {
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+ public:
+  using DynamicsFunction =
+    std::function<bool(const Ref<const Vector<>>, Ref<Vector<>>)>;
+  IntegratorBase(DynamicsFunction function, const Scalar dt_max = 1e-3);
+
+  bool integrate(const QuadState& initial, QuadState* const final) const;
+
+  bool integrate(const Ref<const Vector<>> initial, const Scalar dt,
+                 Ref<Vector<>> final) const;
+
+  virtual bool step(const Ref<const Vector<>> initial, const Scalar dt,
+                    Ref<Vector<>> final) const = 0;
+
+  Scalar dtMax() const;
+
+ protected:
+  DynamicsFunction dynamics_;
+  Scalar dt_max_;
+};
+
+}  // namespace flightlib