Circular.hpp

#pragma once
 
#include "dynamical_systems/IDynamicalSystem.hpp"
#include "state_representation/geometry/Ellipsoid.hpp"
#include "state_representation/parameters/Parameter.hpp"
 
namespace dynamical_systems {
 
class Circular : public IDynamicalSystem<state_representation::CartesianState> {
public:
  Circular();
 
  explicit Circular(const std::list<std::shared_ptr<state_representation::ParameterInterface>>& parameters);
 
  void set_base_frame(const state_representation::CartesianState& base_frame) override;
 
  [[nodiscard]] state_representation::CartesianState
  compute_dynamics(const state_representation::CartesianState& state) const override;
 
private:
  void validate_and_set_parameter(const std::shared_ptr<state_representation::ParameterInterface>& parameter) override;
 
  void set_limit_cycle(state_representation::Ellipsoid& limit_cycle);
 
  std::shared_ptr<state_representation::Parameter<state_representation::Ellipsoid>>
      limit_cycle_;
  std::shared_ptr<state_representation::Parameter<double>>
      planar_gain_;
  std::shared_ptr<state_representation::Parameter<double>>
      normal_gain_;
  std::shared_ptr<state_representation::Parameter<double>>
      circular_velocity_;
};
}// namespace dynamical_systems