IDynamicalSystem.hpp

#pragma once
 
#include <list>
#include <map>
#include <memory>
 
#include "state_representation/parameters/ParameterMap.hpp"
 
namespace dynamical_systems {
 
template<class S>
class IDynamicalSystem : public state_representation::ParameterMap {
public:
  IDynamicalSystem() = default;
 
  [[nodiscard]] virtual bool is_compatible(const S& state) const;
 
  [[nodiscard]] S evaluate(const S& state) const;
 
  [[nodiscard]] S get_base_frame() const;
 
  virtual void set_base_frame(const S& base_frame);
 
protected:
  [[nodiscard]] virtual S compute_dynamics(const S& state) const = 0;
 
private:
  S base_frame_; 
};
 
template<class S>
S IDynamicalSystem<S>::get_base_frame() const {
  return this->base_frame_;
}
 
template<class S>
void IDynamicalSystem<S>::set_base_frame(const S& base_frame) {
  this->base_frame_ = base_frame;
}
 
}// namespace dynamical_systems