relative_state.h

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/*
 * Copyright (c) 2018, The Regents of the University of California (Regents).
 * All rights reserved.
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 *
 *    2. Redistributions in binary form must reproduce the above
 *       copyright notice, this list of conditions and the following
 *       disclaimer in the documentation and/or other materials provided
 *       with the distribution.
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 *    3. Neither the name of the copyright holder nor the names of its
 *       contributors may be used to endorse or promote products derived
 *       from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS AS IS
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 * Please contact the author(s) of this library if you have any questions.
 * Authors: David Fridovich-Keil   ( dfk@eecs.berkeley.edu )
 */

//
// Base class for all relative state types. Relative states are computed from
// two State types and are used for representing value function gradients and
// relative dynamics.
//

#ifndef FASTRACK_STATE_RELATIVE_STATE_H
#define FASTRACK_STATE_RELATIVE_STATE_H

#include <fastrack/utils/types.h>

namespace fastrack {
namespace state {

template <typename TS, typename PS> class RelativeState {
public:
  virtual ~RelativeState() {}

  // Convert from/to VectorXd.
  virtual void FromVector(const VectorXd& x) = 0;
  virtual VectorXd ToVector() const = 0;

protected:
  explicit RelativeState() {}
}; //\class RelativeState

} // namespace state
} // namespace fastrack

#endif