param_func_dist.h

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#ifndef PARAM_FUNC_DIST_H
#define PARAM_FUNC_DIST_H

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

namespace tuw
{
class ParamFuncsDist;
using ParamFuncsDistPtr = std::shared_ptr<ParamFuncsDist>;
using ParamFuncsDistConstPtr = std::shared_ptr<ParamFuncsDist const>;
class ParamFuncsDist : public ParamFuncs
{
  // enums
public:
  enum class TraveledDistCfMode
  {
    NONE,  
    V,     
    AV     
  };

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

public:
  virtual ~ParamFuncsDist() = default;

public:
  ParamFuncsDist(const ParamFuncsDist& _other) = default;

public:
  ParamFuncsDist& operator=(const ParamFuncsDist& _other) = default;

public:
  ParamFuncsDist(ParamFuncsDist&&) = delete;

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

  // pure virtual functions
public:
  virtual void setDistCfMode(TraveledDistCfMode _distCfMode, const std::vector<std::size_t>& _distRelFuncIdx) = 0;
public:
  virtual void
  setEvalDist(const double& _funcsDistEval,
              const ParamFuncs::EvalArcGuarantee& _evalArcGuarantee = ParamFuncs::EvalArcGuarantee::NONE) = 0;
public:
  virtual double computeS() const = 0;
public:
  virtual double computeT(
      const double& _s, const ParamFuncs::EvalArcGuarantee& _evalArcGuarantee = ParamFuncs::EvalArcGuarantee::NONE) = 0;
public:
  virtual void computeS2TLattice(const std::vector<double>& _sLattice, std::vector<double>& _tLattice) = 0;
public:
  virtual void computeS2TLattice(const double& _arc0, const double& _ds, std::vector<double>& _tLattice) = 0;
};
}

#endif  // PARAM_FUNC_DIST_H