SEDynamicStabilization.h

/* Distributed under the Apache License, Version 2.0.
   See accompanying NOTICE file for details.*/
 
#pragma once
#include "cdm/engine/SEEngineStabilization.h"
class SEDynamicStabilizationEngineConvergence;
 
class CDM_DECL SEDynamicStabilization : public SEEngineStabilization
{
  friend class PBEngine;//friend the serialization class
public:
  SEDynamicStabilization(Logger* logger);
  virtual ~SEDynamicStabilization();
 
  virtual void Clear();
 
  bool SerializeToString(std::string& output, eSerializationFormat m) const;
  bool SerializeToFile(const std::string& filename) const;
  bool SerializeFromString(const std::string& src, eSerializationFormat m);
  bool SerializeFromFile(const std::string& filename);
 
  virtual bool StabilizeRestingState(Controller& engine);
  virtual bool StabilizeFeedbackState(Controller& engine);
  virtual bool StabilizeConditions(Controller& engine, const SEConditionManager& conditions);
 
  virtual SEDynamicStabilizationEngineConvergence& GetRestingConvergence();
  virtual const SEDynamicStabilizationEngineConvergence& GetRestingConvergence() const;
 
  virtual bool HasFeedbackConvergence() const;
  virtual SEDynamicStabilizationEngineConvergence& GetFeedbackConvergence();
  virtual const SEDynamicStabilizationEngineConvergence* GetFeedbackConvergence() const;
 
  virtual bool HasConditionConvergence(const std::string& name) const;
  virtual void RemoveConditionConvergence(const std::string& name);
  virtual SEDynamicStabilizationEngineConvergence& GetConditionConvergence(const std::string& name);
  virtual const SEDynamicStabilizationEngineConvergence* GetConditionConvergence(const std::string& name) const;
  virtual const std::map<std::string, SEDynamicStabilizationEngineConvergence*>& GetConditionConvergence() const;
 
protected:
 
  virtual bool Stabilize(Controller& engine, const SEDynamicStabilizationEngineConvergence& criteria);
 
  SEDynamicStabilizationEngineConvergence* m_RestingConvergence;
  SEDynamicStabilizationEngineConvergence* m_FeedbackConvergence;
  std::map<std::string, SEDynamicStabilizationEngineConvergence*> m_ConditionConvergence;
 
  bool Merge();
  SEDynamicStabilizationEngineConvergence* m_MergedConditions;
  std::map<std::string, SEDynamicStabilizationEngineConvergence*> m_ActiveConditions;
};