// SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
// SPDX-License-Identifier: BSD-3-Clause
/*
 * Originally developed for Prioritized Optimal Control (2014)
 * Refactored in 2018.
 * Design inspired by
 * - ACADO toolbox (http://acado.github.io)
 * - ADRL Control Toolbox (https://adrlab.bitbucket.io/ct/ct_doc/doc/html/index.html)
 */

#include <iDynTree/Controller.h>

namespace iDynTree
{
namespace optimalcontrol
{

Controller::Controller(size_t controlSpaceSize)
    : m_controllerSize(controlSpaceSize)
{
}

Controller::~Controller()
{
}

bool Controller::setStateFeedback(double time, const VectorDynSize& stateFeedback)
{
    return false;
}

size_t Controller::controlSpaceSize()
{
    return m_controllerSize;
}

} // namespace optimalcontrol
} // namespace iDynTree
