dynamical-system-simulator.hpp

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#ifndef STATEOBSERVATIONDYNAMICALSYSTEMSIMULATOR_H
#define STATEOBSERVATIONDYNAMICALSYSTEMSIMULATOR_H
 
#include <map>
 
#include <state-observation/api.h>
#include <state-observation/dynamical-system/dynamical-system-functor-base.hpp>
 
namespace stateObservation
{
class STATE_OBSERVATION_DLLAPI DynamicalSystemSimulator
{
public:
  DynamicalSystemSimulator();

  virtual ~DynamicalSystemSimulator();

  virtual void setDynamicsFunctor(DynamicalSystemFunctorBase *);

  virtual void setState(const Vector & x, TimeIndex k);

  virtual void setInput(const Vector & u, TimeIndex k);

  virtual Vector getCurrentState() const;

  virtual TimeIndex getCurrentTime() const;

  virtual void simulateDynamics();

  virtual void simulateDynamicsTo(TimeIndex k);

  virtual Vector getInput(TimeIndex k) const;

  virtual Vector getMeasurement(TimeIndex k);

  virtual Vector getState(TimeIndex k);

  virtual IndexedVectorArray getMeasurementArray(TimeIndex startingTime, TimeSize duration);

  virtual IndexedVectorArray getStateArray(TimeIndex startingTime, TimeSize duration);

  virtual void resetDynamics();

  virtual void resetSimulator();
 
protected:
  DynamicalSystemFunctorBase * f_;
 
  IndexedVectorArray x_;
 
  IndexedVectorArray y_;
 
  std::map<TimeIndex, Vector> u_;
};
} // namespace stateObservation
#endif // STATEOBSERVATIONDYNAMICALSYSTEMSIMULATOR_H