//
// Created by dominik on 8/12/24.
//

#ifndef RWSIM_MOTIONBASE_H
#define RWSIM_MOTIONBASE_H


#include <random>
#include <utility>

class Motion {
public:
    virtual ~Motion() = default;

    Motion(double, double, std::mt19937_64&);
    explicit Motion(std::mt19937_64&);

    std::pair<double, double> draw_position();
    [[nodiscard]] double omega_q(double, double) const;

    virtual void initialize() = 0;
    virtual double jump() = 0;

    [[nodiscard]] double getDelta() const { return m_delta; }
    void setDelta(const double delta) { m_delta = delta; }
    [[nodiscard]] double getEta() const { return m_eta; }
    void setEta(const double eta) { m_eta = eta; }

protected:
    double m_delta{1.};
    double m_eta{0.};
    std::mt19937_64& m_rng;
    std::uniform_real_distribution<> m_uni_dist;
};

#endif //RWSIM_MOTIONBASE_H