body2dtrack.h

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#ifndef GCOP_BODY2DTRACK_H
#define GCOP_BODY2DTRACK_H

#include <Eigen/Dense>
#include <vector>
#include <type_traits>
#include "body2d.h"

namespace gcop {
  
  using namespace std;
  using namespace Eigen;

  
  class Body2dTrack {
  public:
    
    Body2dTrack(Body2d<> &sys, int nf, double t0, double tf,
                double r = 25,
                bool odometry = true,
                bool extforce = false,
                bool forces = false);

    void Optp(VectorXd &p, const vector<Body2dState> &xs);

    void Get(Body2dState &x, double vd, double t) const;

    void MakeTrue();

    void Add(const Vector3d &u, const Body2dState &x, double h);

    void Add2(const Vector3d &u, const Body2dState &x, double h);

    Body2d<> &sys;     

    double t0;       
    double tf;       
    double r;       
    double w;      
    double dmax;    

    bool odometry;         

    bool extforce;         

    bool forces;           
    
    vector<double> ts;     

    vector<Body2dState> xs;      

    vector<Vector3d> us;   
    
    vector<Vector2d> ls;   
    vector<bool> observed; 

    vector<Body2dState> xos;     
    vector<Vector3d> uos;     

    bool init; 
    VectorXd p;            
    vector<int> pis;       

    double pr;     

    vector< vector<pair<int, Vector2d> > > Is;  

    vector< vector<pair<int, Vector2d> > > Js;  
    vector<int> cis;       

        
    vector<Vector3d> vs;   

    double cp;             

    Vector3d cv;           

    Vector3d cw;           

  };
}

#endif