RCACGrad.hpp

#ifndef _RCACGRAD_HPP_
#define _RCACGRAD_HPP_

#include "RCAC.hpp"
#include <iostream>
#include "Eigen/Core"
#include "Eigen/Sparse"
#include "unsupported/Eigen/KroneckerProduct"

//Name: Nima Mohseni
//Date: 2/18/2020
//Purpose: This file contains the implementation of Gradient Descent RCAC as
//a derived class of the base RCAC class

//Struct flags: contains the necessary flags and data for the gradient RCAC
struct rcacGradFlags
{
    //Default RCAC Flags. Required in all RCAC implementations
    int lz;
    int ly;
    int lu;
    int Nc;
    Eigen::VectorXd theta_0;
    int filtorder;
    int k_0;

    //RCAC Gradient Coefficients
    double alpha;
 
};

class RCACGrad: public RCAC
{
    public:
        //Value ctor: Initializes RCAC using gradient descent with the given flags and
        //filter values
        RCACGrad(
            rcacGradFlags &FLAGS,
            rcacFilt &FILT
        );

    private:
        //Function coeffUpdate: Compute the RCAC coefficient update for gradient RCAC
        void coeffUpdate(
            Eigen::VectorXd &zIn
        );

        //Gradient FLAGS
        double alpha; //stepsize scaling

        //Other Variables
        Eigen::VectorXd gradient;
};

#endif