TimeSystem.hpp

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#ifndef _TIME_SYSTEM_H_
#define _TIME_SYSTEM_H_

#include "dynamicalsystems/DynamicalSystem.hpp"

namespace DmpBbo {

class TimeSystem : public DynamicalSystem
{
public:
  
  TimeSystem(double tau, bool count_down=false, std::string name="TimeSystem");
  
  ~TimeSystem(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 bool count_down(void) const 
  {
    return count_down_;
  }

private:
  bool count_down_;
  
  TimeSystem(void) {};
  
  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::TimeSystem, "TimeSystem");

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

#endif // _Time_SYSTEM_H_