State.hpp

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/*
 * Copyright (c) 2022, Jose Luis Cercos-Pita <jlc@core-marine.com>
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 *    this list of conditions and the following disclaimer in the documentation
 *    and/or other materials provided with the distribution.
 *
 * 3. Neither the name of the copyright holder nor the names of its
 *    contributors may be used to endorse or promote products derived from
 *    this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 */
 
#pragma once
 
#include "Misc.hpp"
#include "IO.hpp"
#include "Instance.hpp"
#include <Eigen/Dense>
#include <map>
#include <string>
#include <utility>
#include <sstream>
 
namespace moordyn {
 
namespace state {
 
class DECLDIR State final : public moordyn::io::IO
{
  public:
    State(moordyn::Log* log)
      : moordyn::io::IO(log)
    {
    }
 
    State(const State& rhs)
      : moordyn::io::IO(rhs._log)
    {
        copy(rhs);
    }
 
    ~State() { clear(); };
 
    void addInstance(moordyn::Instance* obj);
 
    unsigned int removeInstance(moordyn::Instance* obj);
 
    inline StateVarView get()
    {
        return _var(Eigen::seq(0, Eigen::placeholders::last));
    }
 
    inline InstanceStateVarView get(moordyn::Instance* obj)
    {
        const auto i = indexer(obj);
        return _var(i).topLeftCorner(obj->stateN(), obj->stateDims());
    }
 
    inline const Eigen::Index indexer(moordyn::Instance* obj)
    {
        const size_t id = obj->id();
        if ((id >= _indexes.size()) || (_indexes[id] < 0)) {
            throw moordyn::invalid_value_error("Missing instance");
        }
        return Eigen::Index(_indexes[id]);
    }
 
    inline const std::vector<Eigen::Index> indexer(
        std::vector<moordyn::Instance*> obj)
    {
        std::vector<Eigen::Index> slcs;
        slcs.reserve(obj.size());
        for (auto o : obj) {
            slcs.push_back(indexer(o));
        }
        return slcs;
    }
 
    std::vector<uint64_t> Serialize(void);
 
    uint64_t* Deserialize(const uint64_t* data);
 
    inline State& operator=(const State& rhs)
    {
        copy(rhs);
        return *this;
    }
 
  private:
    void clear();
 
    void copy(const State& visitor);
 
    inline std::vector<int> make_indexes()
    {
        std::vector<int> indexes;
        for (size_t i = 0; i < _objs.size(); i++) {
            size_t key = _objs[i]->id();
            if (indexes.size() <= key) {
                indexes.resize(key + 1, -1);
            }
            indexes[key] = i;
        }
        return indexes;
    }
 
    StateVar _var;
 
    std::vector<moordyn::Instance*> _objs;
 
    std::vector<int> _indexes;
};
 
} // ::state
 
} // ::moordyn
 
inline moordyn::StateVar
operator*(moordyn::StateVarView v, moordyn::real f)
{
    moordyn::StateVar out;
    out.resize(v.rows());
    for (unsigned int i = 0; i < v.rows(); i++) {
        out(i).resize(v(i).rows(), v(i).cols());
        out(i) = v(i) * f;
    }
    return out;
}
 
inline moordyn::StateVar
operator*(moordyn::real f, moordyn::StateVarView v)
{
    return v * f;
}
 
inline moordyn::StateVar
operator*(moordyn::StateVar v, moordyn::real f)
{
    moordyn::StateVar out;
    out.resize(v.rows());
    for (unsigned int i = 0; i < v.rows(); i++) {
        out(i).resize(v(i).rows(), v(i).cols());
        out(i) = v(i) * f;
    }
    return out;
}
 
inline moordyn::StateVar
operator*(moordyn::real f, moordyn::StateVar v)
{
    return v.topLeftCorner(v.rows(), v.cols()) * f;
}