ExponentialSystem.hpp

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#ifndef _EXPONENTIAL_SYSTEM_H_
#define _EXPONENTIAL_SYSTEM_H_

#include "dynamicalsystems/DynamicalSystem.hpp"

#include <iosfwd>


namespace DmpBbo {

class ExponentialSystem : public DynamicalSystem
{
public:

   ExponentialSystem(double tau, Eigen::VectorXd y_init, Eigen::VectorXd y_attr, double alpha, std::string name="ExponentialSystem");
  
  ~ExponentialSystem(void);
  
  DynamicalSystem* clone(void) const;
  
   void differentialEquation(
     const Eigen::Ref<const Eigen::VectorXd>& x, 
     Eigen::Ref<Eigen::VectorXd> xd
   ) const;
  
  void analyticalSolution(const Eigen::VectorXd& ts, Eigen::MatrixXd& xs, Eigen::MatrixXd& xds) const;
  
  double alpha(void) const {
    return alpha_;
  }
  
        std::string toString(void) const;

private:
  
  double alpha_;
  
  ExponentialSystem(void) {};

  mutable Eigen::VectorXd attractor_state_prealloc_;
  
  friend class boost::serialization::access;
  
  template<class Archive>
  void serialize(Archive & ar, const unsigned int version);

};

}

#include <boost/serialization/export.hpp>
BOOST_CLASS_EXPORT_KEY2(DmpBbo::ExponentialSystem, "ExponentialSystem")


BOOST_CLASS_IMPLEMENTATION(DmpBbo::ExponentialSystem,boost::serialization::object_serializable);

#endif // _Exponential_SYSTEM_H_