StateDependentBase.h

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/* CPYHDR { */
/*
 * This file is part of the 'iit-rbd' library.
 * Copyright © 2015 2016, Marco Frigerio (marco.frigerio@iit.it)
 *
 * See the LICENSE file for more information.
 */
/* } CPYHDR */

#ifndef _IIT_RBD__STATE_DEPENDENT_BASE_H_
#define _IIT_RBD__STATE_DEPENDENT_BASE_H_

#include <iostream>
#include "rbd.h"

namespace iit {
namespace rbd {

template<class State, class Actual>
class StateDependentBase
{
    public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
        const Actual& operator()(State const& state) {
            return static_cast<Actual*>(this) -> update(state);
        }
        const Actual& update(State const& state);
};

}
}


#endif