trajectory_simulator_online.h

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#ifndef TRAJECTORY_SIMULATOR_ONLINE_H
#define TRAJECTORY_SIMULATOR_ONLINE_H

#include <tuw_control/trajectory_simulator/trajectory_simulator.h>

#include <functional>

namespace tuw
{
class TrajectorySimulatorOnline : public TrajectorySimulator
{
  // special class member functions
public:
  TrajectorySimulatorOnline(StateSimPtr _stateSim);

public:
  TrajectorySimulatorOnline(StateSimPtr _stateSim, std::unique_ptr<CostsEvaluatorClass> _costsEvaluator);

public:
  virtual ~TrajectorySimulatorOnline() = default;

public:
  TrajectorySimulatorOnline(const TrajectorySimulatorOnline&) = default;

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

public:
  TrajectorySimulatorOnline(TrajectorySimulatorOnline&&) = default;

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

public:
  void simulateTrajectory(double _lastValidArc = 0) override;

private:
  void populatePartSimLatticesGeneral(std::size_t _firstLaticeInvalidIdx, double _arcParamMax,
                                      double _minArcLatticeVal) override;

private:
  void populatePartSimLatticesDtOnly(const size_t& _firstLaticeInvalidIdx, double _arcParamMax) override;

private:
  void resizeBeginGeneral(const double& _arcParamMax);
private:
  void resizeBeginDtOnly(const double& _arcParamMax);
private:
  double toNextIntMult(const double& _x, const double& _dx) const;
};
}

#endif  // TRAJECTORY_SIMULATOR_ONLINE_H