PointAttractor.hpp

#pragma once
 
#include "dynamical_systems/IDynamicalSystem.hpp"
#include "state_representation/parameters/Parameter.hpp"
 
namespace dynamical_systems {
 
template<class S>
class PointAttractor : public IDynamicalSystem<S> {
public:
  PointAttractor();
 
  explicit PointAttractor(const std::list<std::shared_ptr<state_representation::ParameterInterface>>& parameters);
 
  void set_base_frame(const S& base_frame) override;
 
  [[nodiscard]] S compute_dynamics(const S& state) const override;
 
  [[nodiscard]] bool is_compatible(const S& state) const override;
 
private:
  void validate_and_set_parameter(const std::shared_ptr<state_representation::ParameterInterface>& parameter) override;
 
  void set_attractor(const S& attractor);
 
  void set_gain(const std::shared_ptr<state_representation::ParameterInterface>& parameter, unsigned int expected_size);
 
  std::shared_ptr<state_representation::Parameter<S>> attractor_; 
  std::shared_ptr<state_representation::Parameter<Eigen::MatrixXd>> gain_; 
};
 
template<class S>
PointAttractor<S>::PointAttractor(
    const std::list<std::shared_ptr<state_representation::ParameterInterface>>& parameters
) : PointAttractor<S>() {
  this->set_parameters(parameters);
}
 
}// namespace dynamical_systems