py_dynamical_system.h

#pragma once
 
#include <dynamical_systems/IDynamicalSystem.hpp>
 
#include "py_parameter_map.h"
 
template<class S>
class PyDynamicalSystem
    : public IDynamicalSystem<S>, public PyParameterMap, public std::enable_shared_from_this<PyDynamicalSystem<S>> {
public:
  using IDynamicalSystem<S>::IDynamicalSystem;
 
  [[nodiscard]] bool is_compatible(const S& state) const override {
    PYBIND11_OVERRIDE(bool, IDynamicalSystem<S>, is_compatible, state);
  }
 
  void set_base_frame(const S& base_frame) override {
    PYBIND11_OVERRIDE(void, IDynamicalSystem<S>, set_base_frame, base_frame);
  }
 
protected:
  [[nodiscard]] S compute_dynamics(const S& state) const override {
    PYBIND11_OVERRIDE_PURE(S, IDynamicalSystem<S>, compute_dynamics, state);
  }
};