SpringDamperSystem.hpp

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#ifndef _SPRING_DAMPER_SYSTEM_H_
#define _SPRING_DAMPER_SYSTEM_H_

#include "dynamicalsystems/DynamicalSystem.hpp"

namespace DmpBbo {

double const CRITICALLY_DAMPED = -1.0;

class SpringDamperSystem : public DynamicalSystem
{
public:
  
  SpringDamperSystem(double tau, Eigen::VectorXd y_init, Eigen::VectorXd y_attr, 
    double damping_coefficient, double spring_constant=CRITICALLY_DAMPED, double mass=1.0, std::string name="SpringDamperSystem");
    
  ~SpringDamperSystem(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;
  
        std::string toString(void) const;
  
  inline double damping_coefficient(void) { return damping_coefficient_; }
  
  inline double spring_constant(void) { return spring_constant_; }
  
  inline double mass(void) { return mass_; }
  
  inline void set_damping_coefficient(double damping_coefficient) {
    damping_coefficient_=damping_coefficient; 
  }
  
  inline void set_spring_constant(double spring_constant) {
    spring_constant_ = spring_constant; 
  }
  
  inline void set_mass(double mass) { 
    mass_=mass; 
  }

private:
  double damping_coefficient_;

  double spring_constant_;

  double mass_;
  

private:
  SpringDamperSystem(void) {};
  
  friend class boost::serialization::access;
  
  mutable Eigen::VectorXd y_,z_,yd_,zd_,y_attr_;
  
  template<class Archive>
  void serialize(Archive & ar, const unsigned int version)
  {
    // serialize base class information
    ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(DynamicalSystem);
    
    ar & BOOST_SERIALIZATION_NVP(damping_coefficient_);
    ar & BOOST_SERIALIZATION_NVP(spring_constant_);
    ar & BOOST_SERIALIZATION_NVP(mass_);
  }
};

}

#include <boost/serialization/export.hpp>

BOOST_CLASS_EXPORT_KEY2(DmpBbo::SpringDamperSystem, "SpringDamperSystem")


BOOST_CLASS_IMPLEMENTATION(DmpBbo::SpringDamperSystem,boost::serialization::object_serializable)

#endif // _SPRING_DAMPER_SYSTEM_H_