trajectory_sim_grade.h

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#ifndef TRAJECTORY_SIM_GRADE_H
#define TRAJECTORY_SIM_GRADE_H

#include <tuw_control/trajectory_simulator/trajectory_simulator_precalc.h>
#include <tuw_control/trajectory_simulator/trajectory_simulator_online.h>

#include <tuw_control/costs_evaluator/costs_evaluator.hpp>

#include <functional>
#include <memory>

namespace tuw
{
class TrajectorySimGrade;
using TrajectorySimGradeSPtr = std::shared_ptr<TrajectorySimGrade>;
using TrajectorySimGradeConstSPtr = std::shared_ptr<TrajectorySimGrade const>;
using TrajectorySimGradeUPtr = std::unique_ptr<TrajectorySimGrade>;
using TrajectorySimGradeConstUPtr = std::unique_ptr<TrajectorySimGrade const>;

class TrajectorySimGrade
{
  // special class member functions
public:
  TrajectorySimGrade(StateSimPtr& _stateSim);

public:
  TrajectorySimGrade(StateSimPtr& _stateSim, std::unique_ptr<TrajectorySimulator::CostsEvaluatorClass> _costsEvaluator);

public:
  ~TrajectorySimGrade() = default;

public:
  TrajectorySimGrade(const TrajectorySimGrade&) = default;

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

public:
  TrajectorySimGrade(TrajectorySimGrade&&) = default;

public:
  TrajectorySimGrade& operator=(TrajectorySimGrade&&) = default;

public:
  void initCostsEvaluator();

public:
  void evaluateTrajectory(const double& _arcBegin = 0);

public:
  void setSimMode(const TrajectorySimulator::SimMode& _simMode);

public:
  const TrajectorySimulator::SimMode& simMode() const;

public:
  TrajectorySimulatorSPtr& trajSim();

private:
  void modifyTrajSimMode();

private:
  TrajectorySimulatorSPtr trajSim_;

private:
  StateSimPtr stateSim_;

private:
  TrajectorySimulator::SimMode simMode_;

private:
  std::vector<std::vector<double*> > userPartLattices_;

  //     public   : std::unique_ptr<CostsEvaluatorClass> costsEvaluator_;
};
}

#endif  // TRAJECTORY_SIM_GRADE_H