state_vector.hpp

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#ifndef STATE_VECTOR_H
#define STATE_VECTOR_H

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

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

namespace tuw
{
class StateVector;
using StateVectorSPtr = std::shared_ptr<StateVector>;
using StateVectorConstSPtr = std::shared_ptr<StateVector const>;
using StateVectorUPtr = std::unique_ptr<StateVector>;
using StateVectorConstUPtr = std::unique_ptr<StateVector const>;

class StateVector : public State
{
  // special class member functions
public:
  StateVector(State* _parent) : State(_parent)
  {
    callRootUpdateSize();
  }

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

public:
  virtual ~StateVector() = default;

public:
  StateVector(const StateVector&) = default;

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

public:
  StateVector(StateVector&&) = default;

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

  // implementation of virtual functions
public:
  virtual StateSPtr cloneState() const override
  {
    return std::shared_ptr<StateVector>(new StateVector(*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 values_.size();
  }

public:
  virtual void resize(const std::size_t& _i) override
  {
    values_.resize(_i);
  }

public:
  std::vector<double>& valuesVector()
  {
    return values_;
  }
public:
  const std::vector<double>& valuesVector() const
  {
    return values_;
  }

protected:
  std::vector<double> values_;  
};
}

#endif  // STATE_VECTOR_H