dynamical-system-functor-base.hpp

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#ifndef STATEOBSERVERDYNAMICALSYSTEMFUNCTORBASE_H
#define STATEOBSERVERDYNAMICALSYSTEMFUNCTORBASE_H
 
#include <state-observation/api.h>
#include <state-observation/tools/definitions.hpp>
 
namespace stateObservation
{
 
class STATE_OBSERVATION_DLLAPI DynamicalSystemFunctorBase
{
public:
  DynamicalSystemFunctorBase();
  virtual ~DynamicalSystemFunctorBase();
 
  virtual Vector stateDynamics(const Vector & x, const Vector & u, TimeIndex k) = 0;
 
  virtual Vector measureDynamics(const Vector & x, const Vector & u, TimeIndex k) = 0;
 
  virtual void reset() {}
 
  virtual Index getStateSize() const = 0;
  virtual Index getInputSize() const = 0;
  virtual Index getMeasurementSize() const = 0;
 
  virtual bool checkStateVector(const Vector &);
  virtual bool checkInputvector(const Vector &);
 
protected:
  inline void assertStateVector_(const Vector & v)
  {
    (void)v; // avoid warning
    BOOST_ASSERT(checkStateVector(v) && "ERROR: The state vector has the wrong size");
  }
  inline void assertInputVector_(const Vector & v)
  {
    (void)v; // avoid warning
    BOOST_ASSERT(checkInputvector(v) && "ERROR: The input vector has the wrong size");
  }
 
private:
};
 
} // namespace stateObservation
 
#endif // STATEOBSERVERDYNAMICSYSTEMFUNCTORBASE_H