CscState.h

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/*
 * CscState.h
 *
 *  Created on: 31 mai 2014
 *      Author: ilieszaoui
 */
 
#ifndef CSCSTATE_H_
#define CSCSTATE_H_
 
#include "CscCommon.h"
 
#include <sstream>
#include <cmath>
#include "CscMemberInputStatus.h"
 
#include "Axiomes/Csc3dTypes.h"
 
 
#include "CscEntityModel.h"
 
using std::vector, std::string, std::map, std::stringstream, std::to_string;
 
class CscState {
public:
    int stateId = -1; // -1 If generated by AI
 
    CscState(map<int, float> *pivotsValues = nullptr,
             map<int, float> *wheelsValues = nullptr,
             map<int, float> *propellersValues = nullptr,
             const optional<map<int, float>> &translationsValues = {},
             const vector<const CscMemberInputStatus *> *inputsValues = nullptr);
    void setPivots(map<int, float> pivotsIn);
    void setPropellers(map<int, float> propIn);
    void setPropeller(int propId, float value);
    void setPivot(int pivotId, float value);
 
    void removePivot(int pivotId);
 
    void setObjectiveValue(float value);
    void setInputs(vector<const CscMemberInputStatus *> *inputsIn);
    int countPivots() const;
    float getPivotValueByPivotId(int pivotId) const;
    int getPivotIdAt(int index);
    int getWheelIdAt(int index);
    int getTranslationIdAt(int index);
    int getPropellerIdAt(int index);
    float getWheelValueByWheelId(int wheelId) const;
    float getTranslationValueByTranslationId(int wheelId);
    float getPropellerValueByPropellerId(int wheelId);
    float getInputFromMemberName(string memberName, CscInputType inputId);
    float getObjectiveValue() const;
    virtual ~CscState();
    int countPropellers() const;
    float getPropeller(int propId) const;
    string toString();
    string toUserFriendlyString(bool outputs = true, bool inputs = true) const;
    string toStringWithQuotes();
    vector<CscMemberInputStatus *> *getInputsCopy() const;
    const vector<const CscMemberInputStatus *> &getInputs() const {
        return *inputs;
    }
    size_t countInputs() const {
        return inputs->size();
    }
    CscState *getDuplicata();
    map<int, float> getPropellersCopy() const;
    map<int, float> getPivotsCopy() const;
    map<int, float> getWheelsCopy() const;
 
    void clearInputs();
 
    float getWheel(int wheelId) const;
 
    const map<int, float> &getPropellers() const;
    const map<int, float> &getPivots() const;
    const map<int, float> &getWheels() const;
    const map<int, float> &getTranslations() const;
 
    int countWheels() const;
    void setWheel(int wheelId, float value);
    void setWheels(map<int, float> wheelsIn);
    void setTranslations(map<int, float> TranslationsIn);
    int countTranslations() const;
    void setGridPosition(CscPoint3dOriented *gridPositionIn);
    CscPoint3dOriented *getGridPosition();
    int bestPathUnitMovment = -1;
    float getTranslation(int translationId) const;
    map<int, float> getTranslationsCopy() const;
    map<CscInputType, float> getInputsFromMemberName(string memberName);
    void setTranslation(int translationId, float value);
 
    static float getInputsDistance(const map<CscInputType, float> &inputsIn, const map<CscInputType, float> &inputsTargetValuesMember);
 
    CscPoint3d *getPositionPivotFromPivotId(int pivotId, const CscEntityModel *entityModel);
    virtual CscState * clone();
private:
    float objectiveValue = 0; // to export ?
    vector<const CscMemberInputStatus *> *inputs;
    map<int, float> pivots;
    map<int, float> propellers;
    map<int, float> wheels;
    map<int, float> translations;
    CscPoint3dOriented *gridPosition = new CscPoint3dOriented(150, 0, 150, 0, 0, 0);
};
 
#endif /* CSCSTATE_H_ */