DynamicalSystemFactory.hpp

#pragma once
 
#include "dynamical_systems/DynamicalSystemType.hpp"
#include "dynamical_systems/IDynamicalSystem.hpp"
 
#include "state_representation/space/cartesian/CartesianState.hpp"
#include "state_representation/space/joint/JointState.hpp"
 
namespace dynamical_systems {
 
template<class S>
class DynamicalSystemFactory {
public:
  static std::shared_ptr<IDynamicalSystem<S>> create_dynamical_system(DYNAMICAL_SYSTEM_TYPE type);
 
  static std::shared_ptr<IDynamicalSystem<S>> create_dynamical_system(
      DYNAMICAL_SYSTEM_TYPE type, const std::list<std::shared_ptr<state_representation::ParameterInterface>>& parameters
  );
};
 
template<class S>
std::shared_ptr<IDynamicalSystem<S>> DynamicalSystemFactory<S>::create_dynamical_system(DYNAMICAL_SYSTEM_TYPE type) {
  std::list<std::shared_ptr<state_representation::ParameterInterface>> parameters;
  return DynamicalSystemFactory<S>::create_dynamical_system(type, parameters);
}
 
typedef DynamicalSystemFactory<state_representation::CartesianState> CartesianDynamicalSystemFactory;
typedef DynamicalSystemFactory<state_representation::JointState> JointDynamicalSystemFactory;
 
}// namespace dynamical_systems