state_sim.h

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#ifndef STATE_SIM_H
#define STATE_SIM_H

#include <float.h>
#include <memory>
#include <vector>

#include <tuw_control/state/state.h>
#include <tuw_control/state/state_array.hpp>
#include <tuw_control/discretization/discretization_runge_kutta_alias.hpp>
#include <tuw_control/param_func/param_func.h>
#include <tuw_control/param_func/param_func_dist.h>

namespace tuw
{
class StateSim;
using StateSimSPtr = std::shared_ptr<StateSim>;
using StateSimConstSPtr = std::shared_ptr<StateSim const>;
using StateSimUPtr = std::unique_ptr<StateSim>;
using StateSimConstUPtr = std::unique_ptr<StateSim const>;
class StateSim : public State
{
  // special class member functions
public:
  StateSim() = default;

public:
  virtual ~StateSim() = default;

public:
  StateSim(const StateSim&) = default;

public:
  StateSim& operator=(const StateSim&) = default;

public:
  StateSim(StateSim&&) = delete;

public:
  StateSim& operator=(StateSim&&) = delete;

  // pure virtual functions
public:
  virtual StateSimUPtr cloneStateSim() const = 0;
public:
  virtual void setDiscrType(const RungeKutta::DiscretizationType& _discrType) = 0;
public:
  virtual void advance(double _arc) = 0;

  //     public   : virtual void            advanceODEInt        ( double _arc ) = 0;

public:
  virtual void toState0() = 0;
public:
  virtual State& state0() = 0;
public:
  virtual State& stateNm() = 0;
public:
  virtual State& stateCf() = 0;
public:
  virtual double stateArc() const = 0;
public:
  virtual double stateDist() const = 0;

public:
  virtual void advanceSet0(const double& _tEnd, const double& _dt)
  {
    toState0();
    double tSim = 0;
    while (tSim + _dt <= _tEnd)
    {
      tSim += _dt;
      advance(tSim);
    }
    advance(_tEnd);
    for (size_t i = 0; i < valueSize(); ++i)
    {
      state0().value(i) = value(i);
    }
    //  toState0();
  }

public:
  virtual ParamFuncs* paramFuncs() = 0;
public:
  virtual ParamFuncsDist* paramFuncsDist() = 0;

public:
  virtual void setState(StateSPtr& _otherState) = 0;
public:
  virtual void
  setStateCf(const double& _arc,
             const ParamFuncs::EvalArcGuarantee& _evalArcGuarantee = ParamFuncs::EvalArcGuarantee::AFTER_LAST) = 0;

public:
  virtual void
  setStateCfNmStep(const double& _arc,
                   const ParamFuncs::EvalArcGuarantee& _evalArcGuarantee = ParamFuncs::EvalArcGuarantee::AFTER_LAST)
  {
    setStateCf(_arc, _evalArcGuarantee);
  }
private:
  virtual State& stateNmDot() = 0;
private:
  virtual State& stateNmDelta(const double& _dArc) = 0;

  template <std::size_t StateSize, std::size_t RKOrder, typename... RKCoeff>
  friend void RungeKutta::discretize(StateSim& _stateSim, const double& _arc);
  template <std::size_t StateSize, std::size_t StateNmSize>
  friend class StateSimTemplate;
};
}

#endif  // STATE_SIM_H