System.h

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/**********************************************************************************************************************
This file is part of the Control Toolbox (https://github.com/ethz-adrl/control-toolbox), copyright by ETH Zurich.
Licensed under the BSD-2 license (see LICENSE file in main directory)
**********************************************************************************************************************/

#pragma once

#include <ct/core/types/Time.h>
#include <ct/core/types/StateVector.h>

namespace ct {
namespace core {

enum SYSTEM_TYPE
{
    GENERAL = 0,  
    SECOND_ORDER  
};


template <size_t STATE_DIM, typename SCALAR = double>
class System
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    typedef SCALAR S;       
    typedef SCALAR time_t;  


    System(const SYSTEM_TYPE& type = SYSTEM_TYPE::GENERAL) : type_(type) {}
    System(const System& other) : type_(other.type_) {}
    virtual ~System() {}
    virtual System* clone() const { throw std::runtime_error("clone not implemented"); };

    virtual void computeDynamics(const StateVector<STATE_DIM, SCALAR>& state,
        const time_t& t,
        StateVector<STATE_DIM, SCALAR>& derivative) = 0;


    SYSTEM_TYPE getType() const { return type_; }
    virtual bool isSymplectic() const { return false; }
protected:
    SYSTEM_TYPE type_;  
};

}  // core
}  // ct