disturbance_interface.h

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/*********************************************************************
 *
 *  Software License Agreement
 *
 *  Copyright (c) 2020,
 *  TU Dortmund - Institute of Control Theory and Systems Engineering.
 *  All rights reserved.
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 *  This program is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation, either version 3 of the License, or
 *  (at your option) any later version.
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
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 *  You should have received a copy of the GNU General Public License
 *  along with this program.  If not, see <https://www.gnu.org/licenses/>.
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 *  Authors: Christoph Rösmann
 *********************************************************************/

#ifndef SRC_PLANTS_INCLUDE_CORBO_PLANTS_DISTURBANCE_INTERFACE_H_
#define SRC_PLANTS_INCLUDE_CORBO_PLANTS_DISTURBANCE_INTERFACE_H_

#include <corbo-core/factory.h>
#include <corbo-core/time.h>
#include <corbo-core/types.h>

#ifdef MESSAGE_SUPPORT
#include <corbo-communication/messages/plants/disturbance.pb.h>
#endif

#include <memory>

namespace corbo {

class DisturbanceInterface
{
 public:
    using Ptr = std::shared_ptr<DisturbanceInterface>;

    virtual ~DisturbanceInterface() {}

    virtual Ptr getInstance() const = 0;

    virtual void disturb(const Time& t, const Eigen::Ref<const Eigen::VectorXd>& values, Eigen::Ref<Eigen::VectorXd> disturbed_values) = 0;

    virtual bool checkParameters(int values_dim, std::stringstream* issues) const { return true; }

    virtual void reset() = 0;

    static Factory<DisturbanceInterface>& getFactory() { return Factory<DisturbanceInterface>::instance(); }

#ifdef MESSAGE_SUPPORT
    virtual void toMessage(messages::Disturbance& message) const {}
    virtual void fromMessage(const messages::Disturbance& message, std::stringstream* issues = nullptr) {}
#endif
};

using DisturbanceFactory = Factory<DisturbanceInterface>;
#define FACTORY_REGISTER_DISTURBANCE(type) FACTORY_REGISTER_OBJECT(type, DisturbanceInterface)

}  // namespace corbo

#endif  // SRC_PLANTS_INCLUDE_CORBO_PLANTS_DISTURBANCE_INTERFACE_H_