track.hpp

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#ifndef QTCTRL_TRACK_CTRL
#define QTCTRL_TRACK_CTRL

#include <fstream>               // to get ifstream definition
#include <list> 
#include <model/state.hpp>
#include <ctrl/file.hpp>

class TrackingCtrl : public FileCtrl {
protected:
  std::list<State*> traject;
  int          nb_states;
  std::list<State*>::const_iterator goal;
  State state;

  void searchGoal(const double& forwardTime = 0) {
    while ( ( goal != traject.end() )
            && ( (*goal)->date() < state.date() + forwardTime ) )
      goal++;  // do not go over the last element:
    if ( goal == traject.end() )  goal--;
  } // end of void searchGoal(const double&)
   
public:
  TrackingCtrl(const MotionModel& model, const double& ts,
               const char* input_file_name,
               const iSeeML::rob::OrPtConfig& init_config);
  
  virtual ~TrackingCtrl() {}

  // Cf Controller::newState(const State&)
  virtual void newState(const State& state)
  { this->state = state; Controller::newState(state); }
  
  const std::list<State*>& trajectory() const { return traject; }

}; // end of class TrackingCtrl

#endif // QTCTRL_TRACK_CTRL