model_base.py

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class ModelBase(object):
    """
    Abstract base class for simulation model.
    """
    
    def __init__(self):
        pass
    
    def update(self, dt):
        raise NotImplementedError
    
    def get_position(self):
        raise NotImplementedError
            
    def get_velocity(self):
        raise NotImplementedError
            
    def get_orientation(self):
        """
        Return orientation quaternion in (x, y, z, w) convention
        """
        raise NotImplementedError
    
    def get_angular_velocity(self):
        raise NotImplementedError