param_funcs_evaluator.hpp

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#ifndef IWS_PARAM_FUNCS_EVALUATOR_H
#define IWS_PARAM_FUNCS_EVALUATOR_H

#include <tuw_control/utils.h>
#include <tuw_control/filters/param_funcs_to_state.hpp>

namespace tuw
{
template <typename ObservedStateType, typename OutputStateType, typename ParamType, typename... ParamFuncs2StateTypes>
class ParamFuncsEvaluator
{
  // special class member functions
public:
  ParamFuncsEvaluator(std::shared_ptr<ParamType> _params)
    : paramFuncs2State_(std::make_tuple(ParamFuncs2StateTypes(_params)...)), processingParamFuncs_(false)
  {
  }

public:
  template <typename ParamFuncPtrType>
  std::shared_ptr<OutputStateType>& compute(std::shared_ptr<ObservedStateType>& _xObs, ParamFuncPtrType& _paramFuncs,
                                            const double& _t)
  {
    auto& paramFuncs2State = std::get<Get_Tuple_Index<
        ParamFuncPtrType, std::tuple<std::shared_ptr<typename ParamFuncs2StateTypes::ParamFuncType>...> >::value>(
        paramFuncs2State_);
    auto& stateChDes = paramFuncs2State.compute(_xObs, _paramFuncs, _t);
    if (paramFuncs2State.finished())
    {
      paramFuncs2State.reset();
      processingParamFuncs_ = false;
    }
    return stateChDes;
  }
public:
  template <typename ParamFuncsType>
  void loadParamFuncsState0(const std::vector<double>& _state0, const double& _timeShift = 0)
  {
    auto& paramFuncsI = std::get<ParamFuncsType>(paramFuncs2State_);
    paramFuncsI.state0ParamFuncs_ = _state0;
    paramFuncsI.timeShift_ = _timeShift;
    paramFuncsI.reset();
  }
public:
  void reset()
  {
    for_each_tuple(paramFuncs2State_, [](ParamFuncs2StateBase& _paramFuncs2StateI)
                   {
                     _paramFuncs2StateI.reset();
                   });
  }
public:
  void reloadParam()
  {
    for_each_tuple(paramFuncs2State_, [](ParamFuncs2StateBase& _paramFuncs2StateI)
                   {
                     _paramFuncs2StateI.reloadParam();
                   });
  }

public:
  std::tuple<ParamFuncs2StateTypes...> paramFuncs2State_;  
public:
  bool processingParamFuncs_;  
};
}

#endif  // IWS_PARAM_FUNCS_EVALUATOR_H