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    1) Is the behavior of any of those classes depending on the state (i.e functions do different things depending on the state) ? or is the state just the known data about the bot (position, velocity, status of equipment, etc) ? 2) what in your current design prevent you from replacing the components behind the interfaces ? Commented Apr 15, 2019 at 6:43
  • @christophe state as in data about the bot. Currently the state is a c++ class that is passed to the ctr's Commented Apr 15, 2019 at 11:54
  • ok ! that clarifies my first point. And what about my second point ? And in addition, do you understand « interface » as an OO interface ? or more as the link between elements according to some kind of protocol stack ? Commented Apr 15, 2019 at 13:24
  • @Christophe an OO interface. I will update the question with a code example. I think it will clarify it much more Commented Apr 15, 2019 at 13:26
  • Do they communicate through this state object? The statement " How can I make the Agent, Odometry and PID generic such that their communication is independent of a pre-known State implementation." to me is either a massive miscommunication or so obvious to me that this must be a duplicate of some other question in an extremely obfuscated form. Is all that you are asking is how to have three interfaces that take as parameter an object which they don't know or care the implementation of? Commented Apr 15, 2019 at 19:22