state_array.hpp

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#ifndef STATE_ARRAY_H
#define STATE_ARRAY_H

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

#include <tuw_control/utils.h>
#include <tuw_control/state/state.h>

namespace tuw
{
template <std::size_t N>
class StateArray;
template <std::size_t N>
using StateArraySPtr = std::shared_ptr<StateArray<N>>;
template <std::size_t N>
using StateArrayConstSPtr = std::shared_ptr<StateArray<N> const>;
template <std::size_t N>
using StateArrayUPtr = std::unique_ptr<StateArray<N>>;
template <std::size_t N>
using StateArrayConstUPtr = std::unique_ptr<StateArray<N> const>;
template <std::size_t N>
class StateArray : public State
{
  // special class member functions
public:
  StateArray(State* _parent) : State(_parent)
  {
    callRootUpdateSize();
  }

public:
  StateArray() : State()
  {
    callRootUpdateSize();
  }

public:
  virtual ~StateArray() = default;

public:
  StateArray(const StateArray&) = default;

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

public:
  StateArray(StateArray&&) = default;

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

  // implementation of virtual functions
public:
  virtual StateSPtr cloneState() const override
  {
    return  std::shared_ptr<StateArray<N>>(new StateArray<N>(*this));
  }

public:
  virtual double& value(const std::size_t& _i) override
  {
    return values_[_i];
  }

public:
  virtual const double& value(const std::size_t& _i) const override
  {
    return values_[_i];
  }

public:
  virtual size_t valueSize() const override
  {
    return N;
  }

public:
  std::array<double, N>& valuesArray()
  {
    return values_;
  }
public:
  const std::array<double, N>& valuesArray() const
  {
    return values_;
  }

protected:
  std::array<double, N> values_;  
};

template <typename EnumStateVals>
class StateArrayScoped : public StateArray<asInt(EnumStateVals::ENUM_SIZE)>
{
  // special class member functions
public:
  StateArrayScoped(State* _parent) : StateArray<asInt(EnumStateVals::ENUM_SIZE)>(_parent)
  {
  }

public:
  StateArrayScoped() : StateArray<asInt(EnumStateVals::ENUM_SIZE)>()
  {
  }

public:
  virtual ~StateArrayScoped() = default;

public:
  StateArrayScoped(const StateArrayScoped&) = default;

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

public:
  StateArrayScoped(StateArrayScoped&&) = default;

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

  // implementation of virtual functions
public:
  virtual StateSPtr cloneState() const override
  {
    return std::shared_ptr<StateArrayScoped<EnumStateVals>>(new StateArrayScoped<EnumStateVals>(*this));
  }
public:
  std::shared_ptr<StateArrayScoped<EnumStateVals>> cloneStateExt() const
  {
    return std::shared_ptr<StateArrayScoped<EnumStateVals>>(new StateArrayScoped<EnumStateVals>(*this));
  }
public:
  template <EnumStateVals _i>
  double& value()
  {
    return StateArray<asInt(EnumStateVals::ENUM_SIZE)>::value(asInt(_i));
  }
public:
  template <EnumStateVals _i>
  const double& value() const
  {
    return StateArray<asInt(EnumStateVals::ENUM_SIZE)>::value(asInt(_i));
  }

public:
  using StateArray<asInt(EnumStateVals::ENUM_SIZE)>::value;

public:
  using StateArray<asInt(EnumStateVals::ENUM_SIZE)>::state;

  template <typename... NestedStates1>
  friend class StateNestedSet;
  template <typename EnumStateVals1, typename... NestedStates1>
  friend class StateNestedSetScoped;
  template <typename SubState>
  friend class StateNestedVector;
};
}

#endif  // STATE_ARRAY_H