param_funcs_to_state.hpp

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#ifndef PARAM_FUNCS_2_STATE_HPP
#define PARAM_FUNCS_2_STATE_HPP

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

#include <tuw_control/state/state.h>

namespace tuw
{
class ParamFuncs2StateBase
{
public:
  virtual void reloadParam() = 0;
public:
  virtual bool finished() const = 0;
public:
  virtual void reset() = 0;
};

template <typename InputStateType, typename ParamFuncsType, typename OutputStateType, typename ParamType>
class ParamFuncs2State : public ParamFuncs2StateBase
{
  // special class member functions
public:
  ParamFuncs2State(std::shared_ptr<ParamType> _params) : ParamFuncs2StateBase(), params_(_params)
  {
  }

public:
  virtual ~ParamFuncs2State() = default;

public:
  ParamFuncs2State(const ParamFuncs2State&) = default;

public:
  ParamFuncs2State& operator=(const ParamFuncs2State&) = default;

public:
  ParamFuncs2State(ParamFuncs2State&&) = default;

public:
  ParamFuncs2State& operator=(ParamFuncs2State&&) = default;

public:
  using ParamFuncType = ParamFuncsType;  

  // pure virtual functions
public:
  virtual std::shared_ptr<OutputStateType>& compute(std::shared_ptr<InputStateType>& _x,
                                                    std::shared_ptr<ParamFuncsType>& _funcs, const double& _t) = 0;

public:
  std::shared_ptr<OutputStateType>& output()
  {
    return output_;
  }

protected:
  std::shared_ptr<ParamType> params_;  
protected:
  std::shared_ptr<OutputStateType> output_;  
};
}

#endif  // PARAM_FUNCS_2_STATE_HPP