13#ifndef RESPOND_TRANSITION_HPP_
14#define RESPOND_TRANSITION_HPP_
23#include <respond/constants.hpp>
24#include <respond/history.hpp>
44 virtual Eigen::VectorXd
45 Execute(
const Eigen::Ref<const Eigen::VectorXd> &s,
46 std::map<std::string, History> &h)
const = 0;
51 virtual void AddMatrix(Eigen::Ref<const Eigen::MatrixXd> m) = 0;
73 virtual std::unique_ptr<Transition>
clone()
const = 0;
86 static std::unique_ptr<Transition>
88 const std::string &name = RESPOND_DEFAULT_TRANSITION_NAME,
89 const std::string &log_name = RESPOND_DEFAULT_LOG,
90 const std::string &log_file = RESPOND_DEFAULT_LOG_FILE);
115inline std::ostream &operator<<(std::ostream &os,
Abstract base class representing a state transition operation. Transitions apply transformation matri...
Definition: transition.hpp:32
virtual std::vector< Eigen::MatrixXd > GetMatrices() const =0
Retrieves the stored transition matrices for this transition.
virtual Eigen::VectorXd Execute(const Eigen::Ref< 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 Serialize(std::ostream &os) const =0
Helper function to overload to the stream insertion operator for Transition serialization.
virtual ~Transition()=default
Virtual destructor for proper polymorphic cleanup.
virtual std::string GetName() const =0
Retrieves the name/type of 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 void ClearMatrices()=0
Clears all stored transition matrices.
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).
static std::unique_ptr< Transition > Create(const std::string &type, const std::string &name=RESPOND_DEFAULT_TRANSITION_NAME, const std::string &log_name=RESPOND_DEFAULT_LOG, const std::string &log_file=RESPOND_DEFAULT_LOG_FILE)
Creates a transition of the specified type.
virtual void AddMatrix(Eigen::Ref< const Eigen::MatrixXd > m)=0
Adds a transformation matrix to this transition. The matrix is stored for use during Execute() calls.