.. _program_listing_file_dynamics_dynamics.h:

Program Listing for File dynamics.h
===================================

|exhale_lsh| :ref:`Return to documentation for file <file_dynamics_dynamics.h>` (``dynamics/dynamics.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   
   #pragma once
   
   #include <yaml-cpp/yaml.h>
   
   #include <map>
   
   #include "lupnt/core/config.h"
   #include "lupnt/states/params.h"
   #include "lupnt/states/state.h"
   
   namespace lupnt {
   
     class Dynamics {
     protected:
       bool print_progress_ = false;  
       ParamState params_;            
   
     public:
       Dynamics() = default;
   
       Dynamics(Config& config);
       virtual ~Dynamics() = default;
   
       void SetPrintProgress(bool print) { print_progress_ = print; }
       bool GetPrintProgress() { return print_progress_; }
   
       virtual State Propagate(const State& x0, Real t0, Real tf, const State* u = nullptr) = 0;
   
       virtual State Propagate(const State& x0, Real t0, Real tf, const State* u, MatXd* stm);
   
       virtual MatX Propagate(const State& x0, const VecX& tfs, const State* u = nullptr);
   
       virtual State PropagateWithParams(const State& x0, Real t0, Real tf, const ParamState& params,
                                         const State* u = nullptr);
   
       virtual State PropagateWithParams(const State& x0, Real t0, Real tf, const ParamState& params,
                                         const State* u, MatXd* stm_state, MatXd* stm_param);
   
       virtual MatX PropagateWithParams(const State& x0, const VecX& tfs, const ParamState& params,
                                        const State* u = nullptr);
   
       void SetParams(const ParamState& params) { params_ = params; }
   
       void SetParam(const std::string& key, const Real value) {
         // set the parameter with the name=key to value
         std::vector<std::string> names = params_.GetNames();
         auto it = std::find(names.begin(), names.end(), key);
         if (it != names.end()) {
           int index = std::distance(names.begin(), it);
           // Defensive invariant check (optional but good)
           if (index >= static_cast<std::size_t>(params_.size())) {
             throw std::logic_error(
                 fmt::format("[SetParam] Parameter index out of range for key '{}': "
                             "index = {}, params_.size() = {}, names.size() = {}. "
                             "This indicates a mismatch between parameter names and values.",
                             key, index, params_.size(), names.size()));
           }
           params_(index) = value;  // assuming value is a single element vector
         } else {
           spdlog::warn("Parameter {} not found in Dynamics parameters.", key);
         }
       }
   
       ParamState GetParams() const { return params_; }
   
       Real GetParam(const std::string& key) const {
         // get the parameter with the name=key
         std::vector<std::string> names = params_.GetNames();
         auto it = std::find(names.begin(), names.end(), key);
         if (it != names.end()) {
           int index = std::distance(names.begin(), it);
           return params_(index);
         }
         return Real(0);  // return zero if not found
       }
   
       virtual StateType GetStateType() const = 0;
     };
   
   }  // namespace lupnt