CscSequence.h

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/*
 * CscSequence.h
 *
 *  Created on: 31 mai 2014
 *      Author: ilieszaoui
 */
 
#ifndef CSCSEQUENCE_H_
#define CSCSEQUENCE_H_
 
#include "CoreObjects/CscState.h"
#include <string>
#include <vector>
 
using std::vector, std::string, std::to_string, std::endl, std::ios;
 
enum CscSequenceType {
 
    OUTPUTS = 0,
 
    POSITIONS = 1,
 
    POSITIONS_WITH_OUTPUTS = 2,
 
    TARGET = 3,
 
    MOVEMENT = 4
};
 
enum CscSequenceAction {
    SEQUENCE_BREAK = 0,
    SEQUENCE_RESUME = 1,
    SEQUENCE_STOP = 2,
};
 
class CscSequence {
protected:
    CscSequenceType sequenceType;
 
private:
    float getObjectiveValueAvg();
    float getObjectiveValueMax();
 
public:
    int sequenceId;
    CscSequence(optional<vector<CscState *>> states = {});
 
    virtual void append(const CscSequence &other);
 
    virtual void clear(bool deletePointers = true);
 
    void addState(CscState *state, float stateDelay, float stateDuration);
    void addStates(vector<CscState *> *states);
    CscState *getState(int index) const;
    vector<CscState *> *getStates() const;
    void addExtrapolation(CscState *state, float duration, float delay);
    CscState *getExtrapolation(int index);
    int countExtrapolation() const;
    int countStates() const;
    virtual string toString() const;
    virtual string toStringWithQuotes() const;
    void cutSequenceAt(int begin, int end);
 
    virtual CscSequence *getDuplicate();
 
    virtual ~CscSequence();
 
    virtual CscSequence *clone();
 
    int startingIndex = 0;
    bool solved = false;
    float objectiveValue = 0.0;
    void updateStateByStateId(int stateId, CscState *state);
    vector<float> *stateDelays;
    vector<float> *stateDurations;
    CscSequenceType getSequenceType() const;
 
private:
    std::vector<CscState *> *states;
    std::vector<CscState *> *extrapolation;
 
    vector<CscState *> *getStatesCopy();
};
#endif /* CSCSEQUENCE_H_ */