StateMachine.hpp

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#ifndef EXAMPLES_ATLASSIMBICON_STATEMACHINE_HPP_
#define EXAMPLES_ATLASSIMBICON_STATEMACHINE_HPP_

#include <string>
#include <vector>

#include <Eigen/Dense>

#include <dart/dart.hpp>

class State;

class StateMachine
{
public:
  explicit StateMachine(const std::string& _name);

  virtual ~StateMachine();

  //------------------------------- Setting ------------------------------------
  void setName(const std::string& _name);

  const std::string& getName() const;

  void addState(State* _state);

  void setInitialState(State* _state);

  //------------------------------- Control ------------------------------------
  void begin(double _currentTime);

  void computeControlForce(double _dt);

  void end(double _currentTime);

  State* getCurrentState();

  void transiteToNextState(double _currentTime);

  void transiteTo(State* _state, double _currentTime);

  void transiteTo(std::string& _stateName, double _currentTime);

  void transiteTo(std::size_t _idx, double _currentTime);

  void setVerbosity(bool verbosity);

protected:
  std::string mName;

  std::vector<State*> mStates;

  State* mCurrentState;

  double mBeginTime;

  double mEndTime;

  int mFrame;

  double mElapsedTime;

private:
  bool _containState(const State* _state) const;

  bool _containState(const std::string& _name) const;

  State* _findState(const std::string& _name) const;

  bool mVerbosity;
};

#endif // EXAMPLES_ATLASSIMBICON_STATEMACHINE_HPP_