Observer.h

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/**********************************************************************************************************************
This file is part of the Control Toolbox (https://github.com/ethz-adrl/control-toolbox), copyright by ETH Zurich.
Licensed under the BSD-2 license (see LICENSE file in main directory)
**********************************************************************************************************************/

#pragma once

#include "EventHandler.h"

#include <ct/core/types/arrays/TimeArray.h>
#include <ct/core/types/arrays/MatrixArrays.h>

namespace ct {
namespace core {

template <size_t STATE_DIM, typename SCALAR>
class Integrator;


template <size_t STATE_DIM, typename SCALAR = double>
class Observer
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    friend class Integrator<STATE_DIM, SCALAR>;

    typedef std::vector<std::shared_ptr<EventHandler<STATE_DIM, SCALAR>>,
        Eigen::aligned_allocator<std::shared_ptr<EventHandler<STATE_DIM, SCALAR>>>>
        EventHandlerPtrVector;


    Observer(const EventHandlerPtrVector& eventHandlers);

    void reset();

    void observe(const StateVector<STATE_DIM, SCALAR>& x, const SCALAR& t);

    void log(const StateVector<STATE_DIM, SCALAR>& x, const SCALAR& t);

    void observeInternal(const StateVector<STATE_DIM, SCALAR>& x, const SCALAR& t);

private:
    std::function<void(const StateVector<STATE_DIM, SCALAR>& x, const SCALAR& t)> observeWrap;
    std::function<void(const StateVector<STATE_DIM, SCALAR>& x, const SCALAR& t)> observeWrapWithLogging;

    ct::core::StateVectorArray<STATE_DIM, SCALAR> states_;  
    ct::core::tpl::TimeArray<SCALAR> times_;                


    EventHandlerPtrVector eventHandlers_;  
};
}
}