param_func.h

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#ifndef PARAM_FUNC_H
#define PARAM_FUNC_H

#include <memory>
#include <vector>
#include <map>
#include <tuw_control/utils.h>

namespace tuw
{
class ParamFuncs;
using ParamFuncsUPtr = std::unique_ptr<ParamFuncs>;
using ParamFuncsConstUPtr = std::unique_ptr<ParamFuncs const>;
using ParamFuncsSPtr = std::shared_ptr<ParamFuncs>;
using ParamFuncsConstSPtr = std::shared_ptr<ParamFuncs const>;
class ParamFuncs
{
  // enums
public:
  enum class FuncEvalMode
  {
    DIFF1,  
    DIFF2,  
    INT1,   
    INT2,   
    FUNC,   
    ENUM_SIZE
  };
public:
  enum class CtrlPtDim
  {
    VAL,  
    ARC   
  };
public:
  enum class EvalArcGuarantee
  {
    NONE,
    AFTER_LAST,   
    BEFORE_LAST,  
    AT_BEGIN,     
    AT_END        
  };

public:
  static constexpr const std::size_t nrModesMax_ = asInt(FuncEvalMode::ENUM_SIZE) - 1;

public:
  using FuncEvalModesFlags = std::array<bool, nrModesMax_>;

  // structs
public:
  struct ParamFuncsStructure
  {
    ParamFuncsStructure() : ctrlPtsSize(0), ctrlPtsArcRefIdx(0), evalReq()
    {
      evalReq.fill(false);
    }
    std::size_t ctrlPtsSize;  
    std::size_t ctrlPtsArcRefIdx;  
    FuncEvalModesFlags evalReq;    
  };
protected:
  struct FuncCtrlPt
  {
    FuncCtrlPt(const double& _val, double& _arc) : val(_val), arc(_arc)
    {
    }
    double val;   
    double& arc;  
  };

  // special class member functions
public:
  ParamFuncs() = default;

public:
  virtual ~ParamFuncs() = default;

public:
  ParamFuncs(const ParamFuncs&);  // = default;
public:
  ParamFuncs& operator=(const ParamFuncs&);  // = default;
public:
  ParamFuncs(ParamFuncs&&) = delete;

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

private:
  void initBase(const std::vector<tuw::ParamFuncs::ParamFuncsStructure>& _paramFuncsStructure);
public:
  void init(const std::vector<tuw::ParamFuncs::ParamFuncsStructure>& _paramFuncsStructure);
public:
  std::size_t funcsSize() const;
public:
  std::size_t funcsArcSize() const;
public:
  std::size_t funcsArcSize(const std::size_t& _i) const;
public:
  std::size_t funcCtrlPtSize(const std::size_t& _i) const;
public:
  double& funcsArcBegin();
public:
  const double& funcsArcBegin() const;
public:
  double& funcsArcEnd();
public:
  const double& funcsArcEnd() const;
public:
  const double& funcsArcEval() const;
public:
  double& funcsArc(const std::size_t& _i, const std::size_t& _j);
public:
  const double& funcsArc(const std::size_t& _i, const std::size_t& _j) const;
public:
  FuncCtrlPt& ctrlPt(const std::size_t& _funcIdx, const std::size_t& _funcCtrlPtIdx);
public:
  const FuncCtrlPt& ctrlPt(const std::size_t& _funcIdx, const std::size_t& _funcCtrlPtIdx) const;
public:
  double& ctrlPtVal(const std::size_t& _funcIdx, const std::size_t& _funcCtrlPtIdx,
                    const CtrlPtDim& _ctrlPtDim = CtrlPtDim::VAL);
public:
  const double& ctrlPtVal(const std::size_t& _funcIdx, const std::size_t& _funcCtrlPtIdx,
                          const CtrlPtDim& _ctrlPtDim = CtrlPtDim::VAL) const;

public:
  void shiftStartCtrlPt(const double& _dt);

protected:
  std::vector<FuncEvalModesFlags> funcEvalReq_;
protected:
  std::vector<std::vector<FuncCtrlPt> > funcCtrlPt_;
private:
  std::vector<std::vector<double> > funcCtrlPtArc_;
protected:
  std::vector<std::size_t> func2Arc_;
protected:
  double funcsArcBegin_;
protected:
  double funcsArcEnd_;
protected:
  double funcsArcEval_;
protected:
  std::vector<ParamFuncsStructure> paramFuncsStructure_;

  // pure virtual functions
protected:
  virtual void initImpl() = 0;
public:
  virtual void precompute() = 0;
public:
  virtual void setEvalArc(const double& _funcsArcEval,
                          const EvalArcGuarantee& _evalArcGuarantee = EvalArcGuarantee::NONE) = 0;
public:
  virtual double computeFuncVal(const std::size_t& _funcIdx) const = 0;
public:
  virtual double computeFuncDiff1(const std::size_t& _funcIdx) const = 0;
public:
  virtual double computeFuncDiff2(const std::size_t& _funcIdx) const = 0;
public:
  virtual double computeFuncInt1(const std::size_t& _funcIdx) const = 0;
public:
  virtual double computeFuncInt2(const std::size_t& _funcIdx) const = 0;
};
}

#endif  // PARAM_FUNC_H