38 lines
846 B
C++
38 lines
846 B
C++
//
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// Created by dominik on 8/12/24.
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//
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#ifndef RWSIM_MOTIONBASE_H
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#define RWSIM_MOTIONBASE_H
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#include <random>
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#include <utility>
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class Motion {
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public:
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virtual ~Motion() = default;
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Motion(double, double, std::mt19937_64&);
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explicit Motion(std::mt19937_64&);
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std::pair<double, double> draw_position();
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[[nodiscard]] double omega_q(double, double) const;
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virtual void initialize() = 0;
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virtual double jump() = 0;
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[[nodiscard]] double getDelta() const { return m_delta; }
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void setDelta(const double delta) { m_delta = delta; }
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[[nodiscard]] double getEta() const { return m_eta; }
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void setEta(const double eta) { m_eta = eta; }
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protected:
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double m_delta{1.};
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double m_eta{0.};
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std::mt19937_64& m_rng;
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std::uniform_real_distribution<> m_uni_dist;
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};
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#endif //RWSIM_MOTIONBASE_H
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