trajectory_simulator_precalc.h

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#ifndef TRAJECTORY_SIMULATOR_PRECALC_H
#define TRAJECTORY_SIMULATOR_PRECALC_H

#include <tuw_control/trajectory_simulator/trajectory_simulator.h>

#include <functional>

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

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

public:
  virtual ~TrajectorySimulatorPrecalc() = default;

public:
  TrajectorySimulatorPrecalc(const TrajectorySimulatorPrecalc&) = default;

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

public:
  TrajectorySimulatorPrecalc(TrajectorySimulatorPrecalc&&) = default;

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

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

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

private:
  size_t getMinArcLatCacheIdx() const;
};
}

#endif  // TRAJECTORY_SIMULATOR_PRECALC_H