13#ifndef RESPOND_TRANSITION_HPP_
14#define RESPOND_TRANSITION_HPP_
22#include <respond/history.hpp>
42 virtual Eigen::VectorXd
44 std::map<std::string, History> &h)
const = 0;
71 virtual std::unique_ptr<Transition>
clone()
const = 0;
Abstract base class representing a state transition operation. Transitions apply transformation matri...
Definition: transition.hpp:30
virtual Eigen::VectorXd Execute(const Eigen::VectorXd &s, std::map< std::string, History > &h) const =0
Executes this transition, applying it to a state vector. The input state is not modified; history rec...
virtual void ClearTransitionMatrices()=0
Clears all stored transition matrices.
virtual void AddTransitionMatrix(const Eigen::MatrixXd &m)=0
Adds a transformation matrix to this transition. The matrix is stored for use during Execute() calls.
virtual ~Transition()=default
Virtual destructor for proper polymorphic cleanup.
virtual std::string GetLogName() const =0
Retrieves the logger name used by this transition.
Transition()=default
Protected default constructor for subclass initialization. Not intended for direct public use.
Transition(const Transition &)=delete
Deleted copy constructor (transitions are non-copyable by public API).
virtual std::unique_ptr< Transition > clone() const =0
Creates a deep copy of this transition.
Transition & operator=(const Transition &)=delete
Deleted copy assignment operator (transitions are non-copyable by public API).
virtual std::string GetTransitionName() const =0
Retrieves the name/type of this transition.